Incentive Stock Programs - Options (Details) - Stock Options $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 31, 2024 USD ($) $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Outstanding, number of shares (in shares) | shares	28,281,501
Exercisable, number of shares (in shares) | shares	24,296,425
Outstanding, weighted-average remaining life	5 years 1 month 6 days
Exercisable, weighted-average remaining life	4 years 4 months 24 days
Outstanding, weighted-average exercise price (in dollars per share) | $ / shares	$ 78.71
Exercisable, weighted-average exercise price (in dollars per share) | $ / shares	$ 73.05
Outstanding, aggregate intrinsic value | $	$ 1,031
Exercisable, aggregate intrinsic value | $	$ 1,020