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Stock-Based Compensation and Other Stock Plans - Summary of Changes in Stock-Settled SARs (Details) - Stock-Settled SARs
$ / 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, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding at beginning of year (in shares) | shares 397
Shares granted (in shares) | shares 75
Shares exercised (in shares) | shares (23)
Shares forfeited or expired (in shares) | shares (64)
Outstanding at end of year (in shares) | shares 385
Shares, exercisable at end of year (in shares) | shares 238
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]  
Exercise price per share, outstanding at beginning of year (in dollars per share) | $ / shares $ 160.09
Exercise price per share, granted (in dollars per share) | $ / shares 211.67
Exercise price per share, exercised (in dollars per share) | $ / shares 149.46
Exercise price per share, forfeited or expired (in dollars per share) | $ / shares 163.93
Exercise price per share, outstanding at end of year (in dollars per share) | $ / shares 170.11
Exercise price per share, exercisable at end of year (in dollars per share) | $ / shares $ 155.31
Remaining contractual term, outstanding at end of year (in years) 6 years 3 months 18 days
Remaining contractual term, exercisable at end of year (in years) 5 years
Aggregate intrinsic value, outstanding at end of year | $ $ 22.5
Aggregate intrinsic value, exercisable at end of year | $ $ 17.4