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Supplemental financial information - Restructuring charges and other (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Disclosure Text Block Supplement [Abstract]                      
Restructuring charges [1]                 $ 25 $ (15) $ 6
Gains on sales of assets                 (1) (21) (3)
Restructuring charges/other $ 0 $ 0 $ 24 $ 0 $ 0 $ 0 $ (36) $ 0 $ 24 $ (36) $ 3
[1] Includes severance and benefits, accelerated depreciation, changes in estimates and other exit costs.