Share-Based Compensation and Other Incentive Plans - Schedule of Compensation Expense (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Share-based compensation expense included in Operating earnings	$ 212	$ 172	$ 129
Tax benefit	43	34	15
Share-based compensation expense, net of tax	$ 169	$ 138	$ 114
Decrease in basic earnings per share (USD per share)	$ (1.01)	$ (0.82)	$ (0.67)
Decrease in diluted earnings per share (USD per share)	$ (0.98)	$ (0.80)	$ (0.66)
Costs of sales
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Share-based compensation expense included in Operating earnings	$ 40	$ 28	$ 16
Selling, general and administrative expenses
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Share-based compensation expense included in Operating earnings	116	98	79
Research and development expenditures
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Share-based compensation expense included in Operating earnings	$ 56	$ 46	$ 34