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Share-based compensation - Narrative (Details)
€ / shares in Units, $ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2023
EUR (€)
€ / shares
shares
Dec. 31, 2023
GBP (£)
shares
Dec. 31, 2022
€ / shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
€ / shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Percentage of shares reserved for sale 10.00% 10.00% 10.00%   10.00%   10.00%
Performance shares              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Vesting period 3 years 3 years 3 years        
Weighted average grant date fair value (in usd per share) | (per share) $ 48.55 € 45.57   € 34.50 $ 36.29 € 35.40 $ 42.05
Awards vested (in shares) | shares 2,985,299 2,985,299 2,985,299   3,084,926   2,915,761
Fair value of awards vested $ 147       $ 123   $ 137
Unrecognized compensation expense $ 179            
Unrecognized compensation expense, remaining weighted average vesting period 1 year 3 months 21 days 1 year 3 months 21 days 1 year 3 months 21 days        
Performance shares | Total shareholder return metric              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Performance conditions, percentage 20.00% 20.00% 20.00%   20.00%   25.00%
Performance shares | Return on net assets metric              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Performance conditions, percentage 20.00% 20.00% 20.00%   20.00%   25.00%
Performance shares | Sustainability and diversity metric              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Performance conditions, percentage 15.00% 15.00% 15.00%   15.00%    
Performance shares | Cumulative cash flow metric              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Performance conditions, percentage 45.00% 45.00% 45.00%   45.00%   50.00%
Share option              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Unrecognized compensation expense $ 4            
Unrecognized compensation expense, remaining weighted average vesting period 1 year 7 months 28 days 1 year 7 months 28 days 1 year 7 months 28 days        
Amount participants may save per month   € 500 £ 500        
Participant purchase period 6 months 6 months 6 months        
Discount percentage 15.00% 15.00% 15.00%        
Stock purchased (in shares) | shares 86,520 86,520 86,520   402,645   470,001
Purchase price (in usd per share) | $ / shares $ 26.82       $ 25.24   $ 25.88
Share option | Minimum              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Participant saving period 3 years 3 years 3 years        
Share option | Maximum              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Participant saving period 5 years 5 years 5 years        
Share options, 3-year              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Volatility assumption, months in historical sample 37 months 37 months 37 months        
Share options, 5-year              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Volatility assumption, months in historical sample 61 months 61 months 61 months