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Employee Benefit Plans - Employee Stock Purchase Plan and Valuation Assumptions (Details) - $ / shares
shares in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
ESPP Purchase Rights      
Estimates of Fair Value      
Volatility 29.00% 32.00% 31.00%
Risk-free interest rate 1.10% 0.10% 0.80%
Expected life (years) 1 year 3 months 18 days 1 year 3 months 18 days 1 year 3 months 18 days
Dividend yield 2.50% 3.00% 3.30%
Weighted-average fair value per share (in dollars per share) $ 8.84 $ 6.96 $ 6.34
Market-based RSUs      
Estimates of Fair Value      
Volatility 30.00% 30.00% 25.00%
Risk-free interest rate 1.70% 0.20% 1.30%
Dividend yield 2.50% 3.40% 3.30%
Weighted-average fair value per share (in dollars per share) $ 47.96 $ 30.70 $ 26.32
Employee Stock Purchase Plan 2008      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Common shares purchased through ESPP (in shares) 2.6 2.8 2.7
Average exercise price of shares purchased through ESPP (in dollars per share) $ 21.59 $ 19.81 $ 19.59