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Restructuring - Charges Activities by Type of Cost (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 933    
2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs 190    
2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs 743 $ 666 $ 868
Cost of sales | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 62    
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Cost of sales    
Cost of sales | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 149 $ 205 $ 160
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Cost of sales Cost of sales Cost of sales
Selling, general and administrative | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 122 $ 94 $ 19
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Selling, general and administrative Selling, general and administrative Selling, general and administrative
Research and development | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 1 $ 30 $ 28
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Research and development Research and development Research and development
Restructuring costs | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 128    
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Restructuring costs    
Restructuring costs | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 471 $ 337 $ 661
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Restructuring costs Restructuring costs Restructuring costs
Separation Costs      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 454    
Separation Costs | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs 115    
Separation Costs | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs 339 $ 212 $ 451
Separation Costs | Cost of sales | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 0    
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Cost of sales    
Separation Costs | Cost of sales | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 0 $ 0 $ 0
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Cost of sales Cost of sales Cost of sales
Separation Costs | Selling, general and administrative | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 0 $ 0 $ 0
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Selling, general and administrative Selling, general and administrative Selling, general and administrative
Separation Costs | Research and development | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 0 $ 0 $ 0
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Research and development Research and development Research and development
Separation Costs | Restructuring costs | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 115    
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Restructuring costs    
Separation Costs | Restructuring costs | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 339 $ 212 $ 451
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Restructuring costs Restructuring costs Restructuring costs
Accelerated Depreciation      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 140    
Accelerated Depreciation | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs 0    
Accelerated Depreciation | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs 140 $ 120 $ 91
Accelerated Depreciation | Cost of sales | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 0    
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Cost of sales    
Accelerated Depreciation | Cost of sales | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 131 $ 72 $ 52
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Cost of sales Cost of sales Cost of sales
Accelerated Depreciation | Selling, general and administrative | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 9 $ 19 $ 12
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Selling, general and administrative Selling, general and administrative Selling, general and administrative
Accelerated Depreciation | Research and development | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 0 $ 29 $ 27
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Research and development Research and development Research and development
Accelerated Depreciation | Restructuring costs | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 0    
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Restructuring costs    
Accelerated Depreciation | Restructuring costs | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 0 $ 0 $ 0
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Restructuring costs Restructuring costs Restructuring costs
Other Exit Costs      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 339    
Other Exit Costs | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs 75    
Other Exit Costs | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs 264 $ 334 $ 326
Other Exit Costs | Cost of sales | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 62    
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Cost of sales    
Other Exit Costs | Cost of sales | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 18 $ 133 $ 108
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Cost of sales Cost of sales Cost of sales
Other Exit Costs | Selling, general and administrative | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 113 $ 75 $ 7
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Selling, general and administrative Selling, general and administrative Selling, general and administrative
Other Exit Costs | Research and development | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 1 $ 1 $ 1
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Research and development Research and development Research and development
Other Exit Costs | Restructuring costs | 2024 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 13    
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Restructuring costs    
Other Exit Costs | Restructuring costs | 2019 Restructuring Program      
Restructuring Cost and Reserve [Line Items]      
Total pretax restructuring costs $ 132 $ 125 $ 210
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Restructuring costs Restructuring costs Restructuring costs