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Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Statement of Comprehensive Income [Abstract]      
Actuarial changes, tax $ 69 $ 21 $ (47)
Prior service costs, tax $ (18) $ (24) $ (19)