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Stock Plans - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Shares Subject to Option |  |  |  |  |
Beginning balance (in shares) |  | 20,490,250 | 23,503,759 | 27,751,894 |
Options granted (in shares) |  | 2,476,320 | 2,244,030 | 2,573,350 |
Options exercised (in shares) | [1] | (3,894,213) | (4,780,086) | (6,249,330) |
Options cancelled (in shares) |  | (394,237) | (477,453) | (572,155) |
Ending balance (in shares) |  | 18,678,120 | 20,490,250 | 23,503,759 |
Exercisable at end of period (in shares) |  | 14,500,549 |  |  |
Weighted- Average Exercise or Grant Price Per Share |  |  |  |  |
Beginning balance (in dollars per share) |  | $ 46.31 | $ 42.65 | $ 39.51 |
Options granted (in dollars per share) |  | 65.39 | 64.64 | 56.26 |
Options exercised (in dollars per share) | [1] | 39.59 | 35.96 | 33.68 |
Options cancelled (in dollars per share) |  | 59.41 | 55.89 | 49.65 |
Ending balance (in dollars per share) |  | 49.96 | $ 46.31 | $ 42.65 |
Exercisable at end of period (in dollars per share) |  | $ 45.98 |  |  |
Average Remaining Contractual Term |  |  |  |  |
Average remaining contractual term |  | 5 years |  |  |
Exercisable at end of period |  | 4 years |  |  |
Aggregate Intrinsic Value |  |  |  |  |
Options exercised | [1] | $ 123 | $ 142 | $ 169 |
Aggregate intrinsic value |  | 420 | 417 | 556 | $ 527
Exercisable at end of the period |  | 384 |  |  |
Cash received from options exercised |  | 152 | 158 | 206 |
Actual tax benefit realized for the tax deductions from the option exercises |  | $ 21 | $ 22 | $ 24 |
Annual grant to eligible employees |  |  |  |  |
Shares Subject to Option |  |  |  |  |
Options granted (in shares) |  | 2,452,110 | 2,180,540 | 2,412,710 |
Weighted- Average Exercise or Grant Price Per Share |  |  |  |  |
Options granted (in dollars per share) |  | $ 65.36 | $ 64.65 | $ 56.13 |
Additional options issued |  |  |  |  |
Shares Subject to Option |  |  |  |  |
Options granted (in shares) |  | 24,210 | 63,490 | 160,640 |
Weighted- Average Exercise or Grant Price Per Share |  |  |  |  |
Options granted (in dollars per share) |  | $ 68.93 | $ 64.39 | $ 58.17 |
[1] | Cash received from options exercised was $152 million in 2023, $158 million in 2022 and $206 million in 2021. The actual tax benefit realized and recorded in the provision for income taxes for the tax deductions from the option exercises totaled $21 million in 2023, $22 million in 2022 and $24 million in 2021.

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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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