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Share-based and Deferred Compensation Plans (Details) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) Years $ / shares Rate shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Risk-free interest rate (in hundredths) | 3.60% | 1.70% | 0.50%
Expected term (years) | 5 years 10 months 24 days | 6 years 7 months 6 days | 6 years 3 months 18 days
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate | 22.00% | 25.00% | 27.00%
Expected dividend yield (in hundredths) | 1.80% | 1.90% | 1.90%
Options outstanding at the end of the year (in shares) | shares | 309 |  |
Options outstanding at the end of the year, Weighted-average exercise price (in dollars per share) | $ / shares | $ 103.33 |  |
SARs outstanding at the end of the year (in shares) | shares | 9,795 |  |
SARs outstanding at the end of the year, Weighted-average exercise price (in dollars per share) | $ / shares | $ 92.25 |  |
Share-based Compensation Expense | $ 95.0 | $ 82.0 | $ 75.0
Share-based Payment Arrangement, Expense, Tax Benefit | 12.0 | 16.0 | 15.0
Cash received from stock options exercises | 8.0 | 3.0 | 11.0
Share-based Payment Arrangement, Exercise of Option, Tax Benefit | $ 31.0 | $ 38.0 | $ 72.0
Long Term Incentive Plans [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Minimum vesting period of outstanding awards (in years) | immediate |  |
Maximum vesting period of outstanding awards (in years) | 5 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period | 10 years |  |
Approximate number of shares available for grant (in shares) | shares | 23,000 |  |
Executive Income Deferral Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Percentage of Company match on amount deferred (in hundredths) | Rate | 33.00% |  |
Stock Options and Stock Appreciation Rights [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Minimum vesting period of outstanding awards (in years) | 1.7 |  |
Options outstanding at the end of the year (in shares) | shares | 10,104 | 11,281 |
Granted (in shares) | shares | 1,057 |  |
Exercised (in shares) | shares | (2,016) |  |
Forfeited or expired (in shares) | shares | (218) |  |
Exercisable at the end of the year (in shares) | shares | 7,499 |  |
Options outstanding at the end of the year, Weighted-average exercise price (in dollars per share) | $ / shares | $ 92.58 | $ 86.18 |
Granted, Weighted-average exercise price (in dollars per share) | $ / shares | 131.28 |  |
Exercised, Weighted-average exercise price (in dollars per share) | $ / shares | 74.33 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures and Expirations in Period, Weighted Average Exercise Price | $ / shares | 117.63 |  |
Exercisable at the end of the year, Weighted-average exercise price (in dollars per share) | $ / shares | $ 83.37 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term | 6 years 5 months 8 days |  |
Share Based Compensation Arrangement By Share Based Payment Award, Options, Exercisable Weighted Average Remaining Contractual Term | 5 years 6 months 14 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value | $ 385.0 |  |
Exercisable at the end of the year, Aggregate intrinsic value (in dollars) | $ 355.0 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value | $ / shares | $ 29.93 | $ 26.65 | $ 21.32
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value | $ 114.0 | $ 105.0 | $ 234.0
Unrecognized compensation cost | 35.0 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value | 31.0 | 31.0 | 35.0
Share-based Compensation Expense | 27.0 | 26.0 | 29.0
Restricted Stock Units And Performance Share Units [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation cost | $ 59.0 |  |
Unvested RSUs and PSUs | shares | 1,200 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value | $ 84.0 | 20.0 | 20.0
Restricted Stock Units (RSUs) [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Expense | $ 35.0 | 27.0 | 16.0
Restricted Stock Units (RSUs) [Member] | Executive Income Deferral Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period (in years) | 2 years |  |
Performance Share Units [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Expense | $ 33.0 | $ 29.0 | $ 30.0
Executives [Member] | Long Term Incentive Plans [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period | 10 years |  |
Vesting period (in years) | 4 years |  |
Graded vesting schedule of grants made to executives under other stock award plans | 25 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Average Exercise Period | Years | 5.9 |  |

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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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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Line items represent financial concepts included in a table. 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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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