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Share-Based Compensation and Other Incentive Plans - Schedule of Compensation Expense (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in Operating earnings | $ 172 | $ 129 | $ 129
Tax benefit | 34 | 15 | 30
Share-based compensation expense, net of tax | $ 138 | $ 114 | $ 99
Decrease in basic earnings per share (USD per share) | $ (0.82) | $ (0.67) | $ (0.58)
Decrease in diluted earnings per share (USD per share) | $ (0.80) | $ (0.66) | $ (0.57)
Costs of sales |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in Operating earnings | $ 28 | $ 16 | $ 16
Selling, general and administrative expenses |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in Operating earnings | 98 | 79 | 73
Research and development expenditures |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in Operating earnings | $ 46 | $ 34 | $ 40

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- Definition This element represents the increase (decrease) in basic earnings per share attributable to share-based compensation expense. + References No definition available. + Details
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Data Type: | dtr-types:perShareItemType
Balance Type: | na
Period Type: | duration

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- Definition This element represents the increase (decrease) in diluted earnings per share attributable to share-based compensation expense. + References No definition available. + Details
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Period Type: | duration

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount, after tax, of expense for award under share-based payment arrangement. + References No definition available. + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Amount of tax benefit for recognition of expense of award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Details
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- Details
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