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Incentive Stock Program - Stock Option Activity (Details) - Stock Options - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Options    
Outstanding at beginning of period (in shares) 28,288,046  
Granted (in shares) 2,027,255  
Exercised (in shares) (1,664,222)  
Lapsed (in shares) (82,004)  
Outstanding at end of period (in shares) 28,569,075 28,288,046
Exercisable at end of period (in shares) 23,921,284  
Weighted Average Exercise Price    
Outstanding at beginning of period (in dollars per share) $ 70.64  
Granted (in dollars per share) 106.03  
Exercised (in dollars per share) 44.71  
Lapsed (in dollars per share) 122.08  
Outstanding at end of period (in dollars per share) 74.52 $ 70.64
Exercisable at end of period (in dollars per share) $ 66.90  
Weighted Average Remaining Life (Years)    
Weighted average remaining life of options outstanding 4 years 9 months 18 days 5 years 3 months 18 days
Weighted-average remaining life of options exercisable 4 years 1 month 6 days  
Aggregate Intrinsic Value    
Aggregate intrinsic value of options outstanding $ 1,073 $ 1,167
Aggregate intrinsic value of options exercisable $ 1,064