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Stock Plans - Deferred Stock Units, Performance Share Units and Other Stock-Based Awards (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares      
Beginning balance (in shares) 4,668,046 4,896,990 5,661,945
Shares granted (in shares) 2,147,797 2,616,984 1,761,510
Vested (in shares) [1] (1,925,556) (2,459,427) [2] (2,051,054) [2]
Forfeited (in shares) (438,613) (386,501) [2] (475,411) [2]
Ending balance (in shares) 4,451,674 4,668,046 4,896,990
Weighted-Average Fair Value Per Share      
Beginning balance (in dollars per share) [3] $ 57.04 $ 53.80 $ 46.90
Shares granted (in dollars per share) [3] 61.55 56.19 61.75
Vested (in dollars per share) [1],[3] 54.13 49.59 [2] 42.87 [2]
Forfeited (in dollars per share) [3] 60.68 57.52 [2] 48.24 [2]
Ending balance (in dollars per share) [3] $ 60.12 $ 57.04 $ 53.80
Weighted-Average Aggregate Fair Value      
Total shares granted [1] $ 132 $ 147 $ 109
Vested [1] 104 122 [2] 88 [2]
Actual tax benefit realized for the tax deductions from the shares vested $ 5 $ 6 $ 5
Performance share units      
Number of Shares      
Shares granted (in shares) 806,590 903,250 825,230
Weighted-Average Fair Value Per Share      
Shares granted (in dollars per share) [3] $ 61.87 $ 59.35 $ 65.83
Deferred stock units      
Number of Shares      
Shares granted (in shares) 505,090 550,090 545,550
Weighted-Average Fair Value Per Share      
Shares granted (in dollars per share) [3] $ 64.65 $ 56.13 $ 59.04
Additional shares granted      
Number of Shares      
Shares granted (in shares) [4] 836,117 1,163,644 390,730
Weighted-Average Fair Value Per Share      
Shares granted (in dollars per share) [3],[4] $ 59.37 $ 53.76 $ 56.90
Annual grant to eligible employees      
Grant Date      
Grant date Feb. 24, 2022 Feb. 18, 2021 Feb. 20, 2020
[1] The actual tax benefit realized and recorded in the provision for income taxes for the tax deductions from the shares vested totaled $5 million in 2022, $6 million in 2021 and $5 million in 2020.
[2] Includes PSUs, DSUs and other stock-based awards.
[3] The grant date fair value of PSUs is determined based on the Monte Carlo simulation model for the market-based total shareholder return component and the closing market price of the Company’s stock on the grant date for performance-based components. The Monte Carlo simulation model incorporates the probability of achieving the total shareholder return market condition. Compensation expense is recognized using the grant date fair values regardless of whether the market condition is achieved, so long as the requisite service has been provided.
[4] Includes PSUs and DSUs.