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Stock Plans - Performance Share Units, Deferred Stock Units, and Other Stock-Based Awards (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Beginning balance (in shares) 4,451,674 4,668,046 4,896,990
Granted (in shares) 2,239,108 2,147,797 2,616,984
Vested (in shares) [1],[2] (1,772,439) (1,925,556) (2,459,427)
Forfeited (in shares) [2] (365,177) (438,613) (386,501)
Ending balance (in shares) 4,553,166 4,451,674 4,668,046
Weighted-Average Fair Value Per Share      
Beginning balance (in dollars per share) [3] $ 60.12 $ 57.04 $ 53.80
Granted (in dollars per share) [3] 66.86 61.55 56.19
Vested (in dollars per share) [1],[2],[3] 61.92 54.13 49.59
Forfeited (in dollars per share) [2],[3] 62.66 60.68 57.52
Ending balance (in dollars per share) [3] $ 62.53 $ 60.12 $ 57.04
Weighted-Average Aggregate Fair Value      
Total shares granted [1] $ 150 $ 132 $ 147
Vested [1],[2] 110 104 122
Actual tax benefit realized for the tax deductions from the shares vested $ 3 $ 5 $ 6
Performance share units      
Number of Shares      
Granted (in shares) 895,410 806,590 903,250
Weighted-Average Fair Value Per Share      
Granted (in dollars per share) [3] $ 68.59 $ 61.87 $ 59.35
Deferred stock units      
Number of Shares      
Granted (in shares) 578,570 505,090 550,090
Weighted-Average Fair Value Per Share      
Granted (in dollars per share) [3] $ 65.36 $ 64.65 $ 56.13
Additional shares granted      
Number of Shares      
Granted (in shares) [4] 765,128 836,117 1,163,644
Weighted-Average Fair Value Per Share      
Granted (in dollars per share) [3],[4] $ 65.99 $ 59.37 $ 53.76
[1] The actual tax benefit realized and recorded in the provision for income taxes for the tax deductions from the shares vested totaled $3 million in 2023, $5 million in 2022 and $6 million in 2021.
[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.