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Postretirement benefit plans - Expense Related to Defined Benefit and Retiree Health Care Benefit Plans (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
U.S. | Defined benefit plan    
Defined Benefit Plan Disclosure [Line Items]    
Service cost $ 5 $ 4
Interest cost 8 9
Expected return on plan assets (8) (9)
Recognized net actuarial loss 4 2
Net periodic benefit costs 9 6
Settlement losses 4 4
Total, including other postretirement losses 13 10
U.S. | Retiree health care plan    
Defined Benefit Plan Disclosure [Line Items]    
Service cost 1 1
Interest cost 3 3
Expected return on plan assets (3) (3)
Recognized net actuarial loss 0 0
Net periodic benefit costs 1 1
Settlement losses 0 0
Total, including other postretirement losses 1 1
Non-U.S. | Defined benefit plan    
Defined Benefit Plan Disclosure [Line Items]    
Service cost 9 8
Interest cost 9 9
Expected return on plan assets (20) (18)
Recognized net actuarial loss 2 3
Net periodic benefit costs 0 2
Settlement losses 1 1
Total, including other postretirement losses $ 1 $ 3