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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2021
Share-based Payment Arrangement [Abstract]  
Stock-based compensation expense
Stock-Based Compensation Expense
Three months ended
September 30,		Nine months ended
September 30,
(Millions) 2021 2020 2021 2020
Cost of sales$8 $9 $39 $41 
Selling, general and administrative expenses30 30 151 138 
Research, development and related expenses5 5 37 37 
Stock-based compensation expenses$43 $44 $227 $216 
Income tax benefits(13)(13)(89)(67)
Stock-based compensation expenses (benefits), net of tax$30 $31 $138 $149 
Stock option activity
The following table summarizes stock option activity during the nine months ended September 30, 2021:
(Options in thousands)Number of
Options		Weighted
Average
Exercise Price		Weighted
Average
Remaining
Contractual
Life (months)		Aggregate
Intrinsic Value
(millions)
Under option —
January 135,401 $156.23 
Granted3,612 175.04 
Exercised(3,880)110.14 
Forfeited(206)179.50 
September 3034,927 $163.16 64$691 
Options exercisable
September 3027,271 $160.79 52$634 
Stock option assumptions
Stock Option Assumptions
Annual
2021
Exercise price$175.04 
Risk-free interest rate0.8 %
Dividend yield2.8 %
Expected volatility22.6 %
Expected life (months)83
Black-Scholes fair value$25.33 
Restricted stock and restricted stock units activity
The following table summarizes restricted stock and restricted stock unit activity during the nine months ended September 30, 2021:
(Shares in thousands)Number of
Shares		Weighted
Average
Grant Date
Fair Value
Nonvested balance —
As of January 11,722 $189.78 
Granted785 176.87 
Vested(450)230.32 
Forfeited(68)173.49 
As of September 30
1,989 $176.07 
Performance shares activity
The following table summarizes performance share activity during the nine months ended September 30, 2021:
(Shares in thousands)Number of
Shares		Weighted
Average
Grant Date
Fair Value
Undistributed balance —
As of January 1423 $188.61 
Granted166 176.79 
Distributed(115)228.80 
Performance change16 180.90 
Forfeited(25)171.17 
As of September 30
465 $175.15