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Pension and other postretirement benefits - Impact on Consolidated Statements of Income (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total defined contribution expense | $ 320 | $ 307 | $ 288
Total defined benefit expense | 31 | 30 | 61
Continuing Operations [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total expense within the Consolidated Statements of Income | $ 351 | $ 337 | $ 349

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