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Supplemental financial information - Amounts Reclassified out of AOCI (Details) - Reclassification out of Accumulated Other Comprehensive Income - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Net actuarial gains (losses) of defined benefit plans |  |  |  |
Reclassification Adjustment Out Of Accumulated Other Comprehensive Income [Line Items] |  |  |  |
Reclassified from other comprehensive income (loss), before tax | [1],[2] | $ 76 | $ 78 | $ 63
Tax Effect |  | (25) | (25) | (21)
Recognized within Net income, net of taxes |  | 51 | 53 | 42
Prior service (cost) credit of defined benefit plans |  |  |  |
Reclassification Adjustment Out Of Accumulated Other Comprehensive Income [Line Items] |  |  |  |
Reclassified from other comprehensive income (loss), before tax | [1],[2] | (5) | 0 | 0
Tax Effect |  | 2 | 0 | 0
Recognized within Net income, net of taxes |  | (3) | 0 | 0
Derivative instruments |  |  |  |
Reclassification Adjustment Out Of Accumulated Other Comprehensive Income [Line Items] |  |  |  |
Reclassified from other comprehensive income (loss), before tax |  | 1 | 2 | 2
Tax Effect |  | 0 | (1) | (1)
Recognized within Net income, net of taxes |  | $ 1 | $ 1 | $ 1
[1] | Detailed in Note 10.
[2] | Pension expense is included in COR, R&D, SG&A and Restructuring charges/other.

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