| Share-based Payment Arrangement, Option, Activity | The table below summarizes the employee share-based activity in the Plan: 
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  
|  |  | Options |  | Weighted-average Exercise Price
 |  | Weighted-average Remaining
 Contractual Life
 (in years)
 |  | Aggregate Intrinsic Value
 (in millions)
 |  
| Balance at December 31, 2018 |  | 3,243,662 |  |  | $ | 130.55 |  |  |  |  |  |  
| Granted |  | 710,120 |  |  | 163.42 |  |  |  |  |  |  
| Exercised |  | (652,980) |  |  | 116.76 |  |  |  |  |  |  
| Forfeited |  | (63,232) |  |  | 139.86 |  |  |  |  |  |  
| Balance at December 31, 2019 |  | 3,237,570 |  |  | 140.36 |  |  |  |  |  |  
| Granted |  | 632,080 |  |  | 142.81 |  |  |  |  |  |  
| Exercised |  | (660,786) |  |  | 131.25 |  |  |  |  |  |  
| Forfeited |  | (33,334) |  |  | 150.83 |  |  |  |  |  |  
| Balance at December 31, 2020 |  | 3,175,530 |  |  | 142.63 |  |  |  |  |  |  
| Granted |  | 16,550 |  |  | 232.44 |  |  |  |  |  |  
| Exercised |  | (400,154) |  |  | 138.93 |  |  |  |  |  |  
| Forfeited |  | (48,828) |  |  | 153.72 |  |  |  |  |  |  
| Balance at December 31, 2021 |  | 2,743,098 |  |  | $ | 143.51 |  |  | 5.8 |  | $ | 205 |  |  
|  |  |  |  |  |  |  |  |  |  
| Exercisable, December 31, 2019 |  | 1,665,710 |  |  | $ | 123.55 |  |  | 4.8 |  | $ | 92 |  |  
| Exercisable, December 31, 2020 |  | 1,589,015 |  |  | $ | 130.28 |  |  | 4.6 |  | $ | 151 |  |  
| Exercisable, December 31, 2021 |  | 1,629,588 |  |  | $ | 136.74 |  |  | 4.4 |  | $ | 133 |  |  
|  |  |  |  |  |  |  |  |  |  | 
| Schedule of Nonvested Share Activity | The weighted-average grant date fair value of performance and restricted shares was as follows: 
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  
|  |  | Performance Shares |  | Restricted Shares |  
| Nonvested |  | Shares |  | Weighted-average Fair Value
 |  | Shares |  | Weighted-average Fair Value
 |  
| Balance at December 31, 2018 |  | 410,350 |  |  | $ | 126.36 |  |  | 5,393 |  |  | $ | 117.68 |  |  
| Granted |  | 185,377 |  |  | 141.01 |  |  | — |  |  | — |  |  
| Vested |  | (176,613) |  |  | 98.28 |  |  | (2,696) |  |  | 117.68 |  |  
| Forfeited |  | (23,183) |  |  | 145.26 |  |  | — |  |  | — |  |  
| Balance at December 31, 2019 |  | 395,931 |  |  | 144.64 |  |  | 2,697 |  |  | 117.68 |  |  
| Granted |  | 260,480 |  |  | 132.57 |  |  | 3,704 |  |  | 165.04 |  |  
| Vested |  | (268,773) |  |  | 138.27 |  |  | (2,697) |  |  | 117.68 |  |  
| Forfeited |  | (10,684) |  |  | 144.22 |  |  | — |  |  | — |  |  
| Balance at December 31, 2020 |  | 376,954 |  |  | 140.85 |  |  | 3,704 |  |  | 165.04 |  |  
| Granted |  | 217,684 |  |  | 234.22 |  |  | 26,224 |  |  | 265.41 |  |  
| Vested |  | (131,744) |  |  | 146.55 |  |  | — |  |  | — |  |  
| Forfeited |  | (22,745) |  |  | 171.91 |  |  | — |  |  | — |  |  
| Balance at December 31, 2021 |  | 440,149 |  |  | $ | 183.72 |  |  | 29,928 |  |  | $ | 252.99 |  |  
|  |  |  |  |  |  |  |  |  |  |