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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in Operating earnings | $ 212 | $ 172 | $ 129
Tax benefit | 43 | 34 | 15
Share-based compensation expense, net of tax | $ 169 | $ 138 | $ 114
Decrease in basic earnings per share (USD per share) | $ (1.01) | $ (0.82) | $ (0.67)
Decrease in diluted earnings per share (USD per share) | $ (0.98) | $ (0.80) | $ (0.66)
Costs of sales |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in Operating earnings | $ 40 | $ 28 | $ 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 | 116 | 98 | 79
Research and development expenditures |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in Operating earnings | $ 56 | $ 46 | $ 34

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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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- 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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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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