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Stock Compensation Plans - Stock Option Awards (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Options (in thousands)      
Outstanding at beginning of year (in shares) 6,596    
Granted (in shares) 593    
Exercised (in shares) (1,118)    
Forfeited (in shares) 0    
Expired (in shares) 0    
Outstanding at end of year (in shares) 6,071 6,596  
Number of Options (in thousands), Outstanding, fully vested and expected to vest (in shares) 6,033    
Number of Options (in thousands), Exercisable at end of year (in shares) 4,790    
Weighted Average Exercise Price      
Outstanding at beginning of year (in USD per share) $ 51.58    
Granted (in USD per share) 78.28    
Exercised (in USD per share) 42.20    
Forfeited (in USD per share) 0    
Expired (in USD per share) 0    
Outstanding at end of year (in USD per share) 55.92 $ 51.58  
Weighted Average Exercise Price, Outstanding, fully vested and expected to vest (in USD per share) 55.83    
Weighted Average Exercise Price, Exercisable at end of year (in USD per share) $ 52.00    
Weighted Average Remaining Contractual Term, Outstanding at end of year 5 years 8 months 12 days    
Weighted Average Remaining Contractual Term, Outstanding, fully vested and expected to vest 5 years 8 months 12 days    
Weighted Average Remaining Contractual Term, Exercisable at end of year 4 years 10 months 24 days    
Aggregate Intrinsic Value, Outstanding at end of year $ 148    
Aggregate Intrinsic Value, Outstanding, fully vested and expected to vest 148    
Aggregate Intrinsic Value, Exercisable at end of year $ 136    
Employee Stock Option      
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items]      
Expected dividend yield 2.00% 2.30% 2.80%
Expected annualized spot volatility minimum 24.50% 28.30% 34.10%
Expected annualized spot volatility maximum 26.00% 29.60% 43.00%
Weighted average annualized volatility 25.40% 28.80% 39.40%
Risk-free spot rate minimum 3.80% (0.04%) 0.03%
Risk-free spot rate maximum 5.10% 2.00% 1.40%
Expected term 6 years 8 months 12 days 6 years 4 months 24 days 6 years 4 months 24 days