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Pension and other postretirement benefits - Impact on Consolidated Statements of Income (Details) - USD ($)
$ in Millions
 12 Months Ended
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