Equity - Stock Options (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based compensation
Options granted (in shares)	197	281	358
Assumptions used to measure the fair value of awards
Expected life (in years)	5 years 6 months	5 years 6 months	5 years 6 months
Risk-free interest rate	4.00%	2.00%	0.60%
Expected volatility	28.30%	23.80%	23.20%
Expected dividend yield	2.90%	2.90%	2.90%
Stock options, Number of Options
Outstanding at the beginning of the period (in shares)	2,222
Granted (in shares)	197	281	358
Exercised (in shares)	(386)	(182)	(331)
Cancelled (in shares)	(80)
Outstanding at the end of the period (in shares)	1,953	2,222
Exercisable at the end of the period (in shares)	1,523
Stock options, Weighted Average Exercise Price per Share
Outstanding at the beginning of the period (in dollars per share)	$ 92.32
Granted (in dollars per share)	98.69
Exercised (in dollars per share)	71.76
Cancelled (in dollars per share)	102.66
Outstanding at the end of the period (in dollars per share)	96.61	$ 92.32
Exercisable at the end of the period (in dollars per share)	$ 97.80
Additional information pertaining to stock options
Average Remaining Contractual Term, Outstanding	4 years 11 months 19 days	5 years 1 month 28 days
Average Remaining Contractual Term, Exercisable	4 years 10 days
Aggregate Intrinsic Value, Outstanding (in dollars)	$ 29	$ 24
Aggregate Intrinsic Value, Exercisable (in dollars)	22
Cash received from exercise of stock options	$ 28	$ 11	$ 21
Weighted average grant date fair value of stock options granted (in dollars per share)	$ 23.80	$ 15.04	$ 12.31
Total intrinsic value of stock options exercised (in dollars)	$ 13	$ 6	$ 10
Stock options
Share-based compensation
Term of award	10 years
Period of vesting	3 years
Additional information pertaining to stock options
Unrecognized compensation cost	$ 3
Weighted-average period for amortization of unrecognized compensation cost	1 year 7 months 6 days