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Equity - Stock Options (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Assumptions used to measure the fair value of awards      
Expected life (in years) 5 years 6 months 5 years 6 months 5 years 6 months
Risk-free interest rate (as a percent) 2.00% 0.60% 1.40%
Expected volatility (as a percent) 23.80% 23.20% 19.80%
Expected dividend yield (as a percent) 2.90% 2.90% 2.90%
Stock options, Number of Options      
Outstanding at the beginning of the period (in shares) 2,154    
Granted (in shares) 281 358 336
Exercised (in shares) (182) (331) (124)
Cancelled (in shares) (31)    
Outstanding at the end of the period (in shares) 2,222 2,154  
Exercisable at the end of the period (in shares) 1,651    
Stock options, Weighted Average Exercise Price per Share      
Outstanding at the beginning of the period (in dollars per share) $ 90.39    
Granted (in dollars per share) 88.66    
Exercised (in dollars per share) 61.90    
Cancelled (in dollars per share) 103.55    
Outstanding at the end of the period (in dollars per share) 92.32 $ 90.39  
Exercisable at the end of the period (in dollars per share) $ 93.79    
Additional information pertaining to stock options      
Average Remaining Contractual Term, Outstanding 5 years 1 month 28 days 5 years 3 months 3 days  
Average Remaining Contractual Term, Exercisable 4 years 10 days    
Aggregate Intrinsic Value, Outstanding (in dollars) $ 24 $ 26  
Aggregate Intrinsic Value, Exercisable (in dollars) 18    
Cash received from exercise of stock options $ 11 $ 21 $ 6
Weighted average grant date fair value of stock options granted (in dollars per share) $ 15.04 $ 12.31 $ 11.48
Total intrinsic value of stock options exercised (in dollars) $ 6 $ 10 $ 5
Stock options      
Share-based compensation      
Term of award 10 years    
Period of vesting 3 years    
Additional information pertaining to stock options      
Unrecognized compensation cost $ 3    
Weighted-average period for amortization of unrecognized compensation cost 1 year 8 months 12 days