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Stock-Based Compensation - Stock Options (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Share- based compensation assumptions    
Weighted average exercise price $ 175.04  
Risk-free interest rate (as a percent) 0.80%  
Dividend yield (as a percent) 2.80%  
Expected volatility (as a percent) 22.60%  
Expected life 83 months  
Black-Scholes fair value $ 25.33  
Stock Options    
Stock Option Program    
Balance at the beginning of the period 35,401  
Granted - Annual 3,612  
Exercised (2,323)  
Forfeited (104)  
Balance at the end of the period 36,586  
Options exercisable 28,819  
Weighted average exercise price - Beginning balance $ 156.23  
Weighted average exercise price - Granted - Annual 175.04  
Weighted average exercise price - Exercised 104.16  
Weighted average exercise price - Forfeited 174.71  
Weighted average exercise price - Ending balance 161.34  
Options exercisable, exercise price $ 158.58  
Weighted average remaining contractual life for options outstanding 68 months  
Weighted average remaining contractual life for options exercisable 57 months  
Aggregate intrinsic value for options outstanding $ 1,299  
Aggregate intrinsic value for options exercisable $ 1,126  
Expiration of annual grants 10 years  
Compensation expense yet to be recognized $ 93  
Expense recognition period 25 months  
Total intrinsic value of stock options exercised $ 180 $ 98
Cash received from options exercised 240 100
Tax benefit realized from exercise of stock options $ 38 $ 20
Stock Options | Maximum    
Stock Option Program    
Vesting period 3 years  
Stock Options | Minimum    
Stock Option Program    
Vesting period 1 year