Stock-Based Compensation - Cost (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-based compensation cost, allocation of recognized costs
Pre-tax stock-based compensation cost	$ 1,133	$ 987	$ 919
Income tax benefits	(290)	(249)	(223)
Net stock-based compensation cost	843	738	695
Unrecognized compensation cost related to non-vested awards	$ 1,700
Unrecognized compensation cost related to non-vested awards, weighted average period of recognition	2 years 6 months
Cost
Stock-based compensation cost, allocation of recognized costs
Pre-tax stock-based compensation cost	$ 190	164	145
SG&A expense
Stock-based compensation cost, allocation of recognized costs
Pre-tax stock-based compensation cost	616	566	555
RD&E expense
Stock-based compensation cost, allocation of recognized costs
Pre-tax stock-based compensation cost	$ 328	$ 258	$ 218

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.F)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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