Stock-Based Compensation Programs (Details) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) installment $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares
Stock option and SSARs
Stock-Based Compensation Programs
Number of equal installments commencing one year from the date of grant | installment	4
Vesting period	1 year
Expiration period of options	10 years
Outstanding Options, Number of Shares
Beginning of year (in shares) | shares	9,351,884
Granted (in shares) | shares	1,220,253
Exercised (in shares) | shares	(1,422,034)
Canceled/forfeited (in shares) | shares	(245,098)
End of the period (in shares) | shares	8,905,005	9,351,884
Vested and exercisable, end of period (in shares) | shares	6,289,374
Reserved for future grants (in shares) | shares	11,286,918
Outstanding Options, Weighted Average Exercise Price
Beginning of year (in dollars per share) | $ / shares	$ 52.07
Granted (in dollars per share) | $ / shares	56.64
Exercised (in dollars per share) | $ / shares	31.31
Canceled/forfeited (in dollars per share) | $ / shares	71.26
End of period (in dollars per share) | $ / shares	55.48	$ 52.07
Vested and exercisable, end of period (in dollars per share) | $ / shares	$ 48.63
Additional disclosures
Weighted average remaining contractual term of options outstanding	5 years 2 months 12 days
Aggregate intrinsic value of options outstanding | $	$ 90
Weighted average remaining contractual term of options vested and exercisable	4 years
Aggregate intrinsic value of options vested and exercisable | $	$ 89
Total fair value of options vested | $	$ 19	$ 19	$ 18
Weighted average fair value at grant date (in dollars per share) | $ / shares	$ 16.95	$ 21.68	$ 19.86
Employee Stock Option [Member]
Additional disclosures
Cash received from options exercised | $	$ 26	$ 26	$ 33
Intrinsic value of options exercised | $	35	$ 62	$ 84
Tax benefit from exercise of options | $	$ 5
Restricted shares and restricted stock units
Stock-Based Compensation Programs
Vesting period	5 years