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Pension and other postretirement benefits - Schedule of Target Allocation Ranges (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
United States | Equity instruments | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |
United States | Equity instruments | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 30.00% |  |
United States | Debt instrument | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 65.00% |  |
United States | Debt instrument | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 85.00% |  |
United States | Pension Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 449 | $ 446 | $ 601
United States | Pension Plans | Cash and cash equivalents |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Fair value of plan assets | $ 3 | 4 |
United States | Pension Plans | Equity instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 90 | 83 |
United States | Pension Plans | Equity instruments | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |
United States | Pension Plans | Equity instruments | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 30.00% |  |
United States | Pension Plans | Equity instruments | Developed markets |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 79 | 73 |
United States | Pension Plans | Equity instruments | Developed markets | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |
United States | Pension Plans | Equity instruments | Developed markets | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 30.00% |  |
United States | Pension Plans | Equity instruments | Emerging markets |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 11 | 10 |
United States | Pension Plans | Equity instruments | Emerging markets | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |
United States | Pension Plans | Equity instruments | Emerging markets | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 30.00% |  |
United States | Pension Plans | Debt instrument |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 341 | 317 |
United States | Pension Plans | Debt instrument | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 65.00% |  |
United States | Pension Plans | Debt instrument | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 85.00% |  |
United States | Pension Plans | Debt instrument | Non-government debt instruments | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 65.00% |  |
United States | Pension Plans | Debt instrument | Non-government debt instruments | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 85.00% |  |
United States | Pension Plans | Debt instrument | Government fixed interest instruments | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 65.00% |  |
United States | Pension Plans | Debt instrument | Government fixed interest instruments | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 85.00% |  |
United States | Pension Plans | Real estate |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Fair value of plan assets | $ 0 | 0 |
United States | Pension Plans | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Fair value of plan assets | $ 0 | 0 |
United States | Pension Plans | Investment funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 11 | 34 |
United States | Pension Plans | Investment funds | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
United States | Pension Plans | Investment funds | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 15.00% |  |
United States | Pension Plans | Assets held by insurance company |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Fair value of plan assets | $ 0 | 0 |
United States | Pension Plans | Other |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Fair value of plan assets | $ 4 | 8 |
Non-U.S. | Pension Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 2,524 | 2,316 | $ 3,015
Non-U.S. | Pension Plans | Cash and cash equivalents |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 65 | 53 |
Non-U.S. | Pension Plans | Cash and cash equivalents | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Non-U.S. | Pension Plans | Cash and cash equivalents | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 5.00% |  |
Non-U.S. | Pension Plans | Equity instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 518 | 501 |
Non-U.S. | Pension Plans | Equity instruments | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 15.00% |  |
Non-U.S. | Pension Plans | Equity instruments | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 25.00% |  |
Non-U.S. | Pension Plans | Equity instruments | Developed markets |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 486 | 470 |
Non-U.S. | Pension Plans | Equity instruments | Developed markets | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 15.00% |  |
Non-U.S. | Pension Plans | Equity instruments | Developed markets | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 22.00% |  |
Non-U.S. | Pension Plans | Equity instruments | Emerging markets |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 32 | 31 |
Non-U.S. | Pension Plans | Equity instruments | Emerging markets | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 1.00% |  |
Non-U.S. | Pension Plans | Equity instruments | Emerging markets | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 2.00% |  |
Non-U.S. | Pension Plans | Debt instrument |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 1,489 | 1,324 |
Non-U.S. | Pension Plans | Debt instrument | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 20.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 35.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Non-government debt instruments | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 11.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Non-government debt instruments | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 18.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Government fixed interest instruments | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 17.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Government fixed interest instruments | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 32.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Government inflation-protected bonds | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 31.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Government inflation-protected bonds | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 40.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Asset-backed securities | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 4.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Asset-backed securities | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Inflation-protected bonds | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 4.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Inflation-protected bonds | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Structured debt | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 4.00% |  |
Non-U.S. | Pension Plans | Debt instrument | Structured debt | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |
Non-U.S. | Pension Plans | Real estate |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 193 | 194 |
Non-U.S. | Pension Plans | Real estate | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 5.00% |  |
Non-U.S. | Pension Plans | Real estate | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |
Non-U.S. | Pension Plans | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 14 | 7 |
Non-U.S. | Pension Plans | Derivatives | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Non-U.S. | Pension Plans | Derivatives | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 5.00% |  |
Non-U.S. | Pension Plans | Investment funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 98 | 88 |
Non-U.S. | Pension Plans | Investment funds | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Non-U.S. | Pension Plans | Investment funds | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 5.00% |  |
Non-U.S. | Pension Plans | Assets held by insurance company |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 119 | 115 |
Non-U.S. | Pension Plans | Assets held by insurance company | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Non-U.S. | Pension Plans | Assets held by insurance company | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 5.00% |  |
Non-U.S. | Pension Plans | Other |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 28 | $ 34 |
Non-U.S. | Pension Plans | Other | Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 0.00% |  |
Non-U.S. | Pension Plans | Other | Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Target allocation ranges | 10.00% |  |

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