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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
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