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Equity - Stock options (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Assumptions used to measure the fair value of awards |  |  |
Expected life | 5 years 6 months | 5 years 6 months | 5 years 6 months
Risk-free interest rate (as a percent) | 0.60% | 1.40% | 2.50%
Expected volatility (as a percent) | 23.20% | 19.80% | 19.70%
Expected dividend yield (as a percent) | 2.90% | 2.90% | 2.70%
Stock options, Number of Options |  |  |
Outstanding at the beginning of the period (in shares) | 2,238 |  |
Granted (in shares) | 358 | 336 | 247
Exercised (in shares) | (331) | (124) | (182)
Cancelled (in shares) | (111) |  |
Outstanding at the end of the period (in shares) | 2,154 | 2,238 |
Exercisable at the end of the period (in shares) | 1,591 |  |
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) | 62.05 |  |
Cancelled (in dollars per share) | 91.39 |  |
Outstanding at the end of the period (in dollars per share) | 90.39 | $ 86.55 |
Exercisable at the end of the period (in dollars per share) | $ 91.21 |  |
Additional information pertaining to stock options |  |  |
Average Remaining Contractual Term, Outstanding | 5 years 3 months 3 days | 5 years 1 month 24 days |
Average Remaining Contractual Term, Exercisable | 4 years 1 month 2 days |  |
Aggregate Intrinsic Value, Outstanding (in dollars) | $ 26 | $ 14 |
Aggregate Intrinsic Value, Exercisable (in dollars) | 21 |  |
Cash received from exercise of stock options | $ 21 | $ 6 | $ 6
Weighted average grant date fair value of stock options granted (per share) | $ 12.31 | $ 11.48 | $ 14.02
Total intrinsic value of stock options exercised | $ 10 | $ 5 | $ 10
Employee Stock Option [Member] |  |  |
Share-based compensation |  |  |
Term of award | 10 years |  |
Period of vesting | 3 years |  |
Additional information pertaining to stock options |  |  |
Unrecognized compensation cost | $ 2 |  |
Weighted-average period for amortization of unrecognized compensation cost | 1 year 8 months 12 days |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + 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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + 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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + 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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition 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. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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