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Pension and other postretirement benefits - Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
OPEB Plans      
Defined Benefit Plan Disclosure [Line Items]      
Net actuarial (loss) gain $ 3 $ (32) $ (19)
Prior service cost (credit) 0 0 (1)
Amortization or curtailment recognition of prior service (cost) credit 0 0 1
Amortization or settlement recognition of net (loss) gain 3 0 0
Foreign currency exchange effects 0 0 0
Total accumulated other comprehensive (loss) income 6 (32) (19)
Amount recognized in net periodic pension benefit cost (income) and other comprehensive (income) loss 9 (26) (12)
United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Net actuarial (loss) gain (8) (1) (7)
Prior service cost (credit) 0 2 1
Amortization or curtailment recognition of prior service (cost) credit 0 (4) 0
Amortization or settlement recognition of net (loss) gain (3) (2) (21)
Foreign currency exchange effects 0 0 0
Total accumulated other comprehensive (loss) income (11) (5) (27)
Amount recognized in net periodic pension benefit cost (income) and other comprehensive (income) loss (3) (9) (21)
Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Net actuarial (loss) gain 126 (292) (181)
Prior service cost (credit) (1) (2) (1)
Amortization or curtailment recognition of prior service (cost) credit 11 11 11
Amortization or settlement recognition of net (loss) gain (4) (13) (27)
Foreign currency exchange effects (2) (27) (29)
Total accumulated other comprehensive (loss) income 130 (323) (227)
Amount recognized in net periodic pension benefit cost (income) and other comprehensive (income) loss 150 (295) (179)
Non-U.S. | OPEB Plans      
Defined Benefit Plan Disclosure [Line Items]      
Total accumulated other comprehensive (loss) income $ 1 $ (2) $ (2)