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Incentive Plans Including Share-Based Compensation (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Equity Instruments Other than Options Activity [Roll Forward]      
Balance at January 1 (in shares) 708    
Granted (in shares) 586 395 421
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period (in shares) (184)    
Vested (in shares) (329) (319) (392)
Dividend equivalents (in shares) 38    
Balance at December 31 (in shares) 819 708  
Equity Instruments Other than Options, Weighted Average Grant Date Fair Value [Abstract]      
Balance at January 1, weighted average grant date fair value (in dollars per share) $ 67.35    
Granted, weighted average grant date fair value (in dollars per share) 67.06 $ 68.43 $ 66.03
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value (in dollars per share) $ 68.42    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value $ 20 $ 22 $ 27
Vested, weighted average grant date fair value (in dollars per share) $ 66.23    
Dividend equivalents, weighted average grant date fair value (in dollars per share) 67.65    
Balance at December 31, weighted average grant date fair value (in dollars per share) $ 67.36 $ 67.35  
Service-based awards [Member]      
Equity Instruments Other than Options Activity [Roll Forward]      
Granted (in shares) 400 200 200