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Stock-Based Compensation and Other Stock Plans - Summary of Changes in Stock Options (Details) - Stock Option
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding at beginning of year (in shares) | shares 2,432
Granted (in shares) | shares 289
Exercised (in shares) | shares (350)
Forfeited or expired (in shares) | shares (22)
Outstanding at end of year (in shares) | shares 2,349
Exercisable at end of year (in shares) | shares 1,722
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Exercise price per share, outstanding at beginning of year (in dollars per share) | $ / shares $ 151.32
Exercise price per share, granted (in dollars per share) | $ / shares 211.41
Exercise price per share, exercised (in dollars per share) | $ / shares 119.84
Exercise price per share, forfeited or expired (in dollars per share) | $ / shares 186.16
Exercise price per share, outstanding at end of year (in dollars per share) | $ / shares 163.07
Exercise price per share, exercisable at end of year (in dollars per share) | $ / shares $ 152.58
Remaining contractual term, outstanding at end of year (in years) 5 years 6 months
Remaining contractual term, exercisable at end of year (in years) 4 years 4 months 24 days
Aggregate intrinsic value, outstanding at end of year | $ $ 153.7
Aggregate intrinsic value, exercisable at end of year | $ $ 130.7