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Stock-Based Compensation (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Stock-based compensation cost, allocation of recognized costs      
Pre-tax stock-based compensation cost $ 679 $ 510 $ 534
Income tax benefits (155) (116) (131)
Net stock-based compensation cost 524 393 403
Unrecognized compensation cost related to non-vested awards $ 1,200    
Unrecognized compensation cost related to non-vested awards, weighted average period of recognition 2 years 6 months    
Cost      
Stock-based compensation cost, allocation of recognized costs      
Pre-tax stock-based compensation cost $ 100 82 91
SG&A expense      
Stock-based compensation cost, allocation of recognized costs      
Pre-tax stock-based compensation cost 453 361 384
Research, development and engineering      
Stock-based compensation cost, allocation of recognized costs      
Pre-tax stock-based compensation cost $ 126 $ 67 $ 59