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Financing arrangements - Interest Rate and Cross-currency Swaps (Details)
$ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2022
CHF (SFr)
Dec. 31, 2022
EUR (€)
Dec. 31, 2022
GBP (£)
Dec. 31, 2021
EUR (€)
Debt Instrument [Line Items]              
Net Cash Provided by (Used in) Operating Activities $ 9,721 $ 9,261 $ 10,497        
Repayments of debt 0 4,150 6,450        
Interest rate swap contracts | Designated as Hedging Instrument [Member]              
Debt Instrument [Line Items]              
Notional amount $ 6,700 6,700          
Derivative, Notional Amount, Amount Terminated   $ 750 3,650        
Net Cash Provided by (Used in) Operating Activities     576        
Interest Rate Swap, One [Member] | Interest rate swap contracts | Designated as Hedging Instrument [Member]              
Debt Instrument [Line Items]              
Derivative, Notional Amount, Amount Terminated     5,200        
Interest Rate Swap, Two [Member] | Interest rate swap contracts | Designated as Hedging Instrument [Member]              
Debt Instrument [Line Items]              
Notional amount     5,200        
0.41% Swiss Franc Bonds Due 2023 (0.41% 2023 Swiss franc Bonds)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 0.41%     0.41% 0.41% 0.41%  
0.41% Swiss Franc Bonds Due 2023 (0.41% 2023 Swiss franc Bonds) | Cross-currency swap contract [Member] | Cash flow hedge [Member]              
Debt Instrument [Line Items]              
Notional amount $ 704     SFr 700,000,000      
2.00% €750 million notes due 2026 (2.00% 2026 euro Notes) | Cross-currency swap contract [Member] | Cash flow hedge [Member]              
Debt Instrument [Line Items]              
Notional amount 833       € 750,000,000    
5.50% 2026 pound sterling Notes [Member] | Cross-currency swap contract [Member] | Cash flow hedge [Member]              
Debt Instrument [Line Items]              
Notional amount 747         £ 475,000,000  
4.00% 2029 pound sterling Notes [Member] | Cross-currency swap contract [Member] | Cash flow hedge [Member]              
Debt Instrument [Line Items]              
Notional amount 1,111         £ 700,000,000  
1.25% 2022 euro Notes | Cross-currency swap contract [Member] | Cash flow hedge [Member]              
Debt Instrument [Line Items]              
Interest rate, stated percentage   1.25%         1.25%
Notes payable [Member]              
Debt Instrument [Line Items]              
Notional amount $ 6,650 $ 6,650          
Notes payable [Member] | 0.41% Swiss Franc Bonds Due 2023 (0.41% 2023 Swiss franc Bonds)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 0.41%     0.41% 0.41% 0.41%  
Notes payable [Member] | 3.625% notes due 2024 (3.625% 2024 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 3.625%     3.625% 3.625% 3.625%  
Notional amount $ 1,400 $ 1,400          
Notes payable [Member] | 3.625% notes due 2024 (3.625% 2024 Notes) | LIBOR [Member]              
Debt Instrument [Line Items]              
Derivative, effective interest rate 3.20% 3.20%   3.20% 3.20% 3.20% 3.20%
Notes payable [Member] | 3.125% notes due 2025 (3.125% 2025 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 3.125%     3.125% 3.125% 3.125%  
Notional amount $ 1,000 $ 1,000          
Notes payable [Member] | 3.125% notes due 2025 (3.125% 2025 Notes) | LIBOR [Member]              
Debt Instrument [Line Items]              
Derivative, effective interest rate 1.80% 1.80%   1.80% 1.80% 1.80% 1.80%
Notes payable [Member] | 2.600% notes due 2026 (2.60% 2026 notes) [Member]              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.60%     2.60% 2.60% 2.60%  
Notional amount $ 1,250 $ 1,250          
Notes payable [Member] | 2.600% notes due 2026 (2.60% 2026 notes) [Member] | LIBOR [Member]              
Debt Instrument [Line Items]              
Derivative, effective interest rate 1.80% 1.80%   1.80% 1.80% 1.80% 1.80%
Notes payable [Member] | 2.00% €750 million notes due 2026 (2.00% 2026 euro Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.00%     2.00% 2.00% 2.00%  
Notes payable [Member] | 2.45% notes due 2030 (2.45% 2030 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.45%     2.45% 2.45% 2.45%  
Notional amount $ 1,000 $ 1,000          
Notes payable [Member] | 2.45% notes due 2030 (2.45% 2030 Notes) | LIBOR [Member]              
Debt Instrument [Line Items]              
Derivative, effective interest rate 1.00% 1.00%   1.00% 1.00% 1.00% 1.00%
Notes payable [Member] | 2.30% notes due 2031 (2.30% 2031 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.30%     2.30% 2.30% 2.30%  
Notional amount $ 500 $ 500          
Notes payable [Member] | 2.30% notes due 2031 (2.30% 2031 Notes) | LIBOR [Member]              
Debt Instrument [Line Items]              
Derivative, effective interest rate 0.80% 0.80%   0.80% 0.80% 0.80% 0.80%
Notes payable [Member] | 4.663% notes due 2051 (4.663% 2051 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 4.663%     4.663% 4.663% 4.663%  
Notional amount $ 1,500 $ 1,500          
Notes payable [Member] | 4.663% notes due 2051 (4.663% 2051 Notes) | LIBOR [Member]              
Debt Instrument [Line Items]              
Derivative, effective interest rate 4.10% 4.10%   4.10% 4.10% 4.10% 4.10%
Notes              
Debt Instrument [Line Items]              
Face amount $ 7,000 $ 5,000 9,000        
Repayments of debt $ 0 $ 4,200 $ 6,500        
Notes | 3.45% notes due 2020 (3.45% 2020 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage     3.45%        
Repayments of debt     $ 900        
Notes | 4.10% notes due 2021 (4.10% 2021 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage     4.10%        
Repayments of debt     $ 1,000        
Notes | 3.875% notes due 2021 (3.875% 2021 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage     3.875%        
Repayments of debt     $ 1,750        
Notes | 3.625% Notes Due 2022              
Debt Instrument [Line Items]              
Interest rate, stated percentage   3.625% 3.625%       3.625%
Repayments of debt   $ 750          
Notes | 0.41% Swiss Franc Bonds Due 2023 (0.41% 2023 Swiss franc Bonds)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 0.41%     0.41% 0.41% 0.41%  
Face amount | SFr       SFr 700,000,000      
Notes | 3.625% notes due 2024 (3.625% 2024 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 3.625%   3.625% 3.625% 3.625% 3.625%  
Notes | 3.125% notes due 2025 (3.125% 2025 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 3.125%   3.125% 3.125% 3.125% 3.125%  
Notes | 2.600% notes due 2026 (2.60% 2026 notes) [Member]              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.60%   2.60% 2.60% 2.60% 2.60%  
Notes | 2.00% €750 million notes due 2026 (2.00% 2026 euro Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.00%     2.00% 2.00% 2.00%  
Face amount | €         € 750,000,000    
Notes | 5.50% 2026 pound sterling Notes [Member]              
Debt Instrument [Line Items]              
Interest rate, stated percentage 5.50%     5.50% 5.50% 5.50%  
Face amount | £           £ 475,000,000  
Notes | 6.375% notes due 2037 (6.375% 2037 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 6.375%     6.375% 6.375% 6.375%  
Debt Conversion, Converted Instrument, Amount     $ 74        
Notes | 4.00% 2029 pound sterling Notes [Member]              
Debt Instrument [Line Items]              
Interest rate, stated percentage 4.00%     4.00% 4.00% 4.00%  
Face amount | £           £ 700,000,000  
Notes | 2.45% notes due 2030 (2.45% 2030 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.45% 2.45% 2.45% 2.45% 2.45% 2.45% 2.45%
Notional amount   $ 1,000          
Face amount     $ 1,250        
Notes | 2.30% notes due 2031 (2.30% 2031 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.30% 2.30% 2.30% 2.30% 2.30% 2.30% 2.30%
Notional amount   $ 500          
Face amount     $ 1,250        
Notes | 6.90% notes due 2038 (6.90% 2038 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 6.90%     6.90% 6.90% 6.90%  
Debt Conversion, Converted Instrument, Amount     $ 37        
Notes | 6.40% notes due 2039 (6.40% 2039 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 6.40%   6.40% 6.40% 6.40% 6.40%  
Debt Conversion, Converted Instrument, Amount     $ 133        
Notes | 5.75% notes due 2040 (5.75% 2040 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 5.75%     5.75% 5.75% 5.75%  
Debt Conversion, Converted Instrument, Amount     39        
Notes | 5.15% notes due 2041 (5.15% 2041 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 5.15%     5.15% 5.15% 5.15%  
Debt Conversion, Converted Instrument, Amount     245        
Notes | 5.65% notes due 2042 (5.65% 2042 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 5.65%     5.65% 5.65% 5.65%  
Debt Conversion, Converted Instrument, Amount     72        
Notes | 5.375% notes due 2043 (5.375% 2043 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 5.375%     5.375% 5.375% 5.375%  
Debt Conversion, Converted Instrument, Amount     $ 76        
Notes | 4.663% notes due 2051 (4.663% 2051 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 4.663%   4.663% 4.663% 4.663% 4.663%  
Notes | 2.77% notes due 2053 (2.77% 2053 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage 2.77%   2.77% 2.77% 2.77% 2.77%  
Face amount     $ 940        
Debt exchange additional cash consideration     85        
Debt Instrument, Unamortized Discount     $ 264        
Notes | 1.25% 2022 euro Notes              
Debt Instrument [Line Items]              
Notional amount | €             € 1,250,000,000
Notes | 2.125% notes due 2020 (2.125% 2020 Notes)              
Debt Instrument [Line Items]              
Interest rate, stated percentage     2.125%        
Repayments of debt     $ 750