 At the heart of Kant’s moral theory is the idea of autonomy. Most readers interpret Kant as holding that autonomy is a property of rational wills or agents. Understanding the idea of autonomy was, in Kant’s view, key to understanding and justifying the authority that moral requirements have over us. As with Rousseau, whose views influenced Kant, freedom does not consist in being bound by no law, but by laws that are in some sense of one’s own making. The idea of freedom as autonomy thus goes beyond the merely “negative” sense of being free from causes on our conduct originating outside of ourselves. It contains first and foremost the idea of laws made and laid down by oneself, and, in virtue of this, laws that have decisive authority over oneself.