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Equity Incentive Plans - Changes in restricted stock units (Details) - Restricted stock units - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Stock units activity      
Outstanding at the beginning of the period (in shares) 1,241    
Granted (in shares) 255    
Vested (in shares) (498)    
Forfeited (in shares) (41)    
Outstanding at the end of the period (in shares) 957 1,241  
Weighted average grant date fair value      
Weighted average grant date fair value, nonvested at the beginning of the period (in dollars per share) $ 67.93    
Weighted average grant date fair value, granted (in dollars per share) 93.16 $ 80.12 $ 63.51
Weighted average grant date fair value, vested (in dollars per share) 67.45    
Weighted average grant date fair value, forfeited (in dollars per share) 75.40    
Weighted average grant date fair value, nonvested at the end of the period (in dollars per share) $ 74.58 $ 67.93  
Total fair value of restricted stock and restricted stock units vested $ 47 $ 58 $ 29