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Incentive Stock Programs (Tables)
 3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Summary of Options Outstanding and Exercisable Information regarding the number of options outstanding and exercisable at March 31, 2024 is as follows:
OutstandingExercisable
Number of shares 28,281,501 24,296,425 
Weighted average remaining life (years)
5.14.4
Weighted average exercise price $78.71 $73.05 
Aggregate intrinsic value (in millions)
$1,031 $1,020