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Incentive Stock Programs - General (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Apr. 30, 2017
Incentive Stock Program      
Total unrecognized compensation cost $ 407    
Total unrecognized compensation cost, recognition period 3 years    
Stock options      
Incentive Stock Program      
Stock options granted during the period (in shares) 4,015,420    
Award vesting period 3 years    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price $ 55.65 $ 48.78  
Stock options | Maximum      
Incentive Stock Program      
Maximum term of option 10 years    
Restricted stock awards      
Incentive Stock Program      
Award vesting period 3 years    
Portion of awards vesting in any one year for awards that vest over 5 years (as a percent) 33.00%    
For awards with a term of five years, number of years in which no more than one-third of the award vests 1 year    
Restricted stock units      
Incentive Stock Program      
Award vesting period 3 years    
Number of shares of common stock received for each vested restricted stock unit (in shares) 1    
2017 Incentive Stock Program      
Incentive Stock Program      
Incentive stock programs, shares authorized for issuance     170,000,000
Incentive stock programs, shares reserved for future issuance 113,000,000    
2017 Incentive Stock Program | Stock options      
Incentive Stock Program      
Stock options granted during the period (in shares) 4,015,420    
2017 Incentive Stock Program | Restricted stock awards      
Incentive Stock Program      
Grants in period, restricted stock (in shares) 569,961    
2017 Incentive Stock Program | Restricted stock units      
Incentive Stock Program      
Awards and units granted during period (in shares) 5,239,575