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Stock Compensation Plans - Stock Option Awards (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Number of Options (in thousands) |  |  |
Outstanding at beginning of year (in shares) | 6,435 |  |
Granted (in shares) | 876 |  |
Exercised (in shares) | (715) |  |
Forfeited (in shares) | 0 |  |
Expired (in shares) | 0 |  |
Outstanding at end of year (in shares) | 6,596 | 6,435 |
Number of Options (in thousands), Outstanding, fully vested and expected to vest (in shares) | 6,546 |  |
Number of Options (in thousands), Exercisable at end of year (in shares) | 4,899 |  |
Weighted Average Exercise Price |  |  |
Outstanding at beginning of year (in USD per share) | $ 47.46 |  |
Granted (in USD per share) | 69.41 |  |
Exercised (in USD per share) | 36.31 |  |
Forfeited (in USD per share) | 0 |  |
Expired (in USD per share) | 0 |  |
Outstanding at end of year (in USD per share) | 51.58 | $ 47.46 |
Weighted Average Exercise Price, Outstanding, fully vested and expected to vest (in USD per share) | 51.51 |  |
Weighted Average Exercise Price, Exercisable at end of year (in USD per share) | $ 48.16 |  |
Weighted Average Remaining Contractual Term, Outstanding at end of year | 5 years 7 months 6 days |  |
Weighted Average Remaining Contractual Term, Outstanding, fully vested and expected to vest | 5 years 7 months 6 days |  |
Weighted Average Remaining Contractual Term, Exercisable at end of year | 4 years 7 months 6 days |  |
Aggregate Intrinsic Value, Outstanding at end of year | $ 160 |  |
Aggregate Intrinsic Value, Outstanding, fully vested and expected to vest | 159 |  |
Aggregate Intrinsic Value, Exercisable at end of year | $ 136 |  |
Employee Stock Option |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |
Expected dividend yield | 2.30% | 2.80% | 2.60%
Expected annualized spot volatility minimum | 28.30% | 34.10% | 22.20%
Expected annualized spot volatility maximum | 29.60% | 43.00% | 36.20%
Weighted average annualized volatility | 28.80% | 39.40% | 30.90%
Risk-free spot rate minimum | (0.04%) | 0.03% | 1.30%
Risk-free spot rate maximum | 2.00% | 1.40% | 1.60%
Expected term | 6 years 4 months 24 days | 6 years 4 months 24 days | 6 years 7 months 6 days

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- Definition The estimated measure of the minimum 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 No definition available. + Details
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