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Stock Incentive and Purchase Plans (Tables)
 12 Months Ended
Dec. 31, 2022
Free Cash Flow Performance-based DSU Awards, Fair Value Assumptions [Line Items]  
Free Cash Flow Performance-based DSU Awards, Fair Value Assumptions [Table Text Block]
The following table presents our assumptions used in determining the fair value of our AFCF awards currently expected to vest as of December 31, 2022:
2022 AFCF2021 AFCF2020 AFCF
Fair value, net of forfeitures to date (in millions)
$7 $12 $6 
Achievement of target payout88 %131 %89 %
Year-end stock price used in determining fair value$46.27 $42.48 $35.95 
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block] The following presents the impact of stock-based compensation on our consolidated statements of operations:
 Year Ended December 31,
(in millions, except per share data)202220212020
Cost of products sold$12 $11 $9 
Selling, general and administrative expenses167 147 130 
Research and development expenses41 36 30 
 220 194 170 
Income tax (benefit) expense(32)(29)(28)
 $188 $165 $142 
Net impact per common share - basic$0.13 $0.12 $0.10 
Net impact per common share - assuming dilution$0.13 $0.12 $0.10 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] We use the Black-Scholes option-pricing model to calculate the grant-date fair value of stock options granted to employees under our stock incentive plans. We calculated the fair value for options granted using the following estimated weighted-average assumptions:
 Year Ended December 31,
 202220212020
Options granted (in thousands)
3,287 3,822 3,819 
Weighted-average exercise price$44.02 $37.69 $41.79 
Weighted-average grant-date fair value$13.64 $10.77 $10.44 
Black-Scholes Assumptions   
Expected volatility28 %29 %23 %
Expected term (in years, weighted)
6.15.95.8
Risk-free interest rate1.42%-3.87%0.66%-1.20%0.27%-1.72%
Schedule of Share-based Compensation, Restricted Stock Units Award Activity [Table Text Block] Information related to non-vested stock awards is as follows:
Non-Vested
Stock Award Units
(in thousands)
Weighted Average
Grant-Date
Fair Value
Balance as of December 31, 201911,079 $29 
Granted3,609 41 
Vested(1)
(4,147)25 
Forfeited(554)34 
Balance as of December 31, 20209,987 $34 
Granted4,240 $39 
Vested(1)
(3,823)$31 
Forfeited(658)36 
Balance as of December 31, 20219,745 $37 
Granted3,854 $45 
Vested(1)
(3,482)$36 
Forfeited(680)44 
Balance as of December 31, 20229,438 $41 
(1)The number of shares vested includes shares withheld on behalf of employees to satisfy statutory tax withholding requirements.
Schedule of Share-based Compensation, Employee Stock Purchase Plan, Activity [Table Text Block]
Information related to shares issued or to be issued in connection with the employee stock purchase plan based on employee contributions and the range of purchase prices is as follows:
Year Ended December 31,
202220212020
Shares issued or to be issued (in thousands)
2,850 2,578 1,387 
Range of purchase prices$31.68 -$32.31 $29.98 -$36.11 $29.84 
Expense recognized (in millions)
$28 $24 $10 
Schedule of Unrecognized Compensation Cost, Nonvested Awards [Table Text Block]
We expect to recognize the following future expense for awards outstanding as of December 31, 2022:
 Unrecognized
 Compensation Cost
(in millions) (1)
Weighted Average Remaining
Vesting Period
(in years)
Stock options$38  
Non-vested stock awards181  
 $219 1.7
(1)Amounts presented represent compensation cost, net of estimated forfeitures.
Market-based awards, valuation assumptions [Table Text Block]
We determined the fair value of the market-based RSU and DSU awards to be approximately $12 million for 2022, $11 million for 2021 and $8 million for 2020. We determined these fair values based on Monte Carlo simulations as of the date of grant, utilizing the following assumptions:
 202220212020
AwardsAwardsAwards
Stock price on date of grant$44.19 $37.50 $42.16 
Measurement period (in years)
2.92.92.9
Risk-free rate1.71 %0.20 %1.37 %
Share-based Compensation, Stock Options, Activity [Table Text Block]
Information related to stock options under stock incentive plans are as follows:
Stock Options
(in thousands)
Weighted
Average
Exercise Price
Weighted Average
Remaining
Contractual Life
(in years)
Aggregate
Intrinsic
Value
(in millions)
Outstanding as of December 31, 201923,065 $19 
Granted3,819 42 
Exercised(3,096)13 
Cancelled/forfeited(666)27 
Outstanding as of December 31, 202023,122 $24 
Granted3,822 38 
Exercised(4,796)13 
Cancelled/forfeited(699)26 
Outstanding as of December 31, 202121,448 $29 
Granted3,287 44 
Exercised(2,745)17 
Cancelled/forfeited(502)34 
Outstanding as of December 31, 202221,489 $32 5.9297 
Exercisable as of December 31, 202213,674 27 4.6258 
Expected to vest as of December 31, 20227,535 41 8.238 
Total vested and expected to vest as of December 31, 202221,209 $32 5.9$296