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Other Financial Data - Earnings Per Common Share (Details)
$ / shares in Units, shares in Millions, $ in Millions
12 Months Ended
Sep. 05, 2019
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Jan. 01, 2022
USD ($)
Basic earnings per common share:          
Earnings | $   $ 1,363 $ 1,245 $ 949  
Weighted average common shares outstanding (in shares)   167.5 169.2 170.0  
Per share amount (USD per share) | $ / shares   $ 8.14 $ 7.36 $ 5.58  
Diluted earnings per common share:          
Earnings | $   $ 1,363 $ 1,245 $ 949  
Weighted average common shares outstanding (in shares)   167.5 169.2 170.0  
Add effect of dilutive securities:          
Share-based awards (in shares)   3.7 4.0 4.1  
Diluted weighted average common shares outstanding (in shares)   171.9 173.6 174.1  
Per share amount (USD per share) | $ / shares   $ 7.93 $ 7.17 $ 5.45  
1.75% senior convertible notes due 2024          
Add effect of dilutive securities:          
Senior Convertible Notes (in shares)   0.7 0.4 0.0  
Convertible Debt | 1.75% senior convertible notes due 2024          
Add effect of dilutive securities:          
Interest rate   1.75%     1.75%
Debt instrument face principal amount | $   $ 1,000     $ 1,000
Convertible debt conversion price (usd per share) | $ / shares $ 203.50 $ 203.50      
Convertible debt conversion ratio 0.0049140 0.0049140      
Value in excess of principal if converted | $   $ 304      
Stock Options          
Add effect of dilutive securities:          
Stock options excluded from computation of dilutive shares due to antidilutive nature (in shares)   0.3 0.2 0.4  
Performance Options          
Add effect of dilutive securities:          
Stock options excluded from computation of dilutive shares due to antidilutive nature (in shares)   0.1 0.1 0.1