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Revenue - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Disaggregation of Revenue [Line Items] |  |  |
Software license contracts term (in years) | 1 year |  |
Deferred income recognized as revenue | $ 520 | $ 500 |
Operating lease revenue | $ 590 | $ 577 | $ 582
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration] | Net sales | Net sales | Net sales
United States |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | $ 15,100 | $ 15,000 | $ 15,000
China/Hong Kong |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | $ 3,200 | $ 3,800 | $ 4,000

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