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Equity - Stock options (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions | 3 Months Ended | 6 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jun. 30, 2021 | Jun. 30, 2021 | Jun. 30, 2020 | Dec. 31, 2020
Stock options, Number of Options |  |  |  |
Outstanding at the beginning of the period (in shares) |  | 2,238 |  |
Granted (in shares) |  | 358 | 336 |
Exercised (in shares) |  | (189) |  |
Cancelled (in shares) |  | (56) |  |
Outstanding at the end of the period (in shares) | 2,351 | 2,351 |  | 2,238
Exercisable at the end of the period (in shares) | 1,740 | 1,740 |  |
Stock options, Weighted Average Exercise Price per Share |  |  |  |
Outstanding at the beginning of the period (in dollars per share) |  | $ 86.55 |  |
Granted (in dollars per share) |  | 87.12 |  |
Exercised (in dollars per share) |  | 58.07 |  |
Cancelled (in dollars per share) |  | 92.83 |  |
Outstanding at the end of the period (in dollars per share) | $ 88.99 | 88.99 |  | $ 86.55
Exercisable at the end of the period (in dollars per share) | $ 89.30 | $ 89.30 |  |
Additional information pertaining to stock options |  |  |  |
Average Remaining Contractual Term, Outstanding |  | 5 years 8 months 12 days |  | 5 years 1 month 24 days
Average Remaining Contractual Term, Exercisable |  | 4 years 5 months 19 days |  |
Aggregate Intrinsic Value, Outstanding (in dollars) | $ 20 | $ 20 |  | $ 14
Aggregate Intrinsic Value, Exercisable (in dollars) | 19 | 19 |  |
Cash received from exercise of stock options |  | $ 11 |  |
Weighted average grant date fair value of stock options granted (per share) |  | $ 12.31 | $ 11.48 |
Total intrinsic value of stock options exercised | 1 | $ 6 | $ 4 |
Stock options |  |  |  |
Share-based compensation |  |  |  |
Term of award |  | 10 years |  |
Period of vesting |  | 3 years |  |
Required service period |  | 1 year |  |
Assumptions used to measure the fair value of awards |  |  |  |
Expected life |  | 5 years 6 months | 5 years 6 months |
Risk-free interest rate (as a percent) |  | 0.60% | 1.40% |
Expected volatility (as a percent) |  | 23.20% | 19.80% |
Expected dividend yield (as a percent) |  | 2.90% | 2.90% |
Additional information pertaining to stock options |  |  |  |
Unrecognized compensation cost | $ 5 | $ 5 |  |
Weighted-average period for amortization of unrecognized compensation cost |  | 1 year 9 months 18 days |  |

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