One estimate says 235 million companies globally.
Since there are 7.125 billion people, this averages to 1 company / 30 people, including children and elderly.
Estimate is that approx. 90 % are small and medium businesses.
There were 45,508 companies listed on stock exchanges in 2010, see link.
So only 0.019 % of all companies are listed on stock exchanges.
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