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Pension and other postretirement benefits - Schedule of Pension Plans where Accumulated Benefit Obligation (“ABO”) Projected Benefit Obligation (“PBO”) Exceeds the Fair Value of Respective Plan Assets (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022
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United States | Pension Plans |  |
Pension plans with projected benefit obligations in excess of plan assets: |  |
Projected benefit obligation | $ 496 | $ 497
Fair value of plan assets | 449 | 446
Plans with accumulated postretirement benefit obligations in excess of plan assets: |  |
Accumulated benefit obligation | 496 | 497
Fair value of plan assets | 449 | 446
United States | OPEB |  |
Plans with accumulated postretirement benefit obligations in excess of plan assets: |  |
Accumulated benefit obligation | 0 | 0
Fair value of plan assets | 0 | 0
Non-U.S. | Pension Plans |  |
Pension plans with projected benefit obligations in excess of plan assets: |  |
Projected benefit obligation | 580 | 512
Fair value of plan assets | 421 | 378
Plans with accumulated postretirement benefit obligations in excess of plan assets: |  |
Accumulated benefit obligation | 527 | 503
Fair value of plan assets | 394 | 374
Non-U.S. | OPEB |  |
Plans with accumulated postretirement benefit obligations in excess of plan assets: |  |
Accumulated benefit obligation | 9 | 8
Fair value of plan assets | $ 0 | $ 0

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