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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.