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Capital Stock and Stock-Based Compensation Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Schedule of Common and Treasury Stock Activity | A summary of common stock and treasury stock activity for the three years ended December 31 is as follows:
|  | Common Stock Outstanding |  | Treasury Stock
Balance, January 1, 2021 |  | 849,893,601 |  |  | 615,812,759 |
Common stock acquired |  | (16,518,163) |  |  | 16,518,163 |
Shares issued for stock options |  | 6,357,793 |  |  | (6,357,793) |
Shares issued for restricted stock units and other |  | 747,053 |  |  | (747,053) |
Balance, December 31, 2021 |  | 840,480,284 |  |  | 625,226,076 |
Common stock acquired |  | (17,060,788) |  |  | 17,060,788 |
Shares issued for stock options |  | 5,654,692 |  |  | (5,654,692) |
Shares issued for restricted stock units and other |  | 1,138,418 |  |  | (1,138,418) |
Balance, December 31, 2022 |  | 830,212,606 |  |  | 635,493,754 |
Common stock acquired |  | (14,735,909) |  |  | 14,735,909 |
Shares issued for stock options |  | 5,318,430 |  |  | (5,318,430) |
Shares issued for restricted stock units and other |  | 617,642 |  |  | (617,642) |
Balance, December 31, 2023 |  | 821,412,769 |  |  | 644,293,591 |
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions | The weighted-average fair value assumptions are summarized in the following table:
|  | 2023 |  | 2022 |  | 2021
Expected term of options |  | 6 years |  | 6 years |  | 6 years
Expected volatility rate |  | 19.8 | % |  | 21.1 | % |  | 20.3 | %
Risk-free interest rate |  | 4.3 | % |  | 3.0 | % |  | 1.0 | %
Expected dividend yield |  | 2.5 | % |  | 2.4 | % |  | 2.3 | %
Weighted-average estimated fair value |  | $ | 14.89 |  | $ | 14.71 |  | $ | 11.11
Schedule of Share-based Compensation, Stock Options, Activity | A summary of stock option activity during 2023 is presented below:
|  | Shares (in thousands) |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in years) |  | Intrinsic Value of Unexercised In-the-Money Options
Options outstanding, January 1, 2023 |  | 24,431 |  |  | $ | 75 |  |  |  |  |
Granted |  | 2,310 |  |  | 73 |  |  |  |  |
Exercised |  | (5,318) |  |  | 72 |  |  |  |  |
Forfeited |  | (174) |  |  | 77 |  |  |  |  |
Expired |  | (507) |  |  | 74 |  |  |  |  |
Options outstanding, December 31, 2023 |  | 20,742 |  |  | 75 |  |  | 5 |  | $ | 97 |
Options exercisable, December 31, 2023 |  | 14,608 |  |  | $ | 75 |  |  | 4 |  | $ | 74 |
Schedule of Share-based Compensation, Performance Restricted Stock and Time-based Restricted Stock Units Activity | A summary of performance-based restricted stock unit activity for the year ended December 31, 2023 is presented below:
|  | Shares (in thousands) |  | Weighted Average Grant Date Fair Value Per Award
Performance-based restricted stock units as of January 1, 2023 |  | 1,026 |  |  | $ | 70 |
Activity: |  |  |  |
Granted |  | 393 |  |  | 67 |
Vested |  | (234) |  |  | 71 |
Forfeited |  | (97) |  |  | 74 |
Change due to performance and/or market condition achievement |  | (19) |  |  | 77 |
Performance-based restricted stock units as of December 31, 2023 |  | 1,069 |  |  | $ | 68 |
A summary of restricted stock unit activity during 2023 is presented below:
|  | Shares (in thousands) |  | Weighted Average Grant Date Fair Value Per Award
Restricted stock units as of January 1, 2023 |  | 1,860 |  |  | $ | 77 |
Activity: |  |  |  |
Granted |  | 979 |  |  | 73 |
Vested |  | (594) |  |  | 77 |
Forfeited |  | (71) |  |  | 76 |
Restricted stock units as of December 31, 2023 |  | 2,174 |  |  | $ | 76 |

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of employee stock purchase plans, including, but not limited to: (a) expected term, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Disclosure of the number and weighted-average grant date fair value for restricted stock and restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock and restricted stock units that were granted, vested, or forfeited during the year. + References No definition available. + Details
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