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Derivative instruments - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Derivative Instruments Gain Loss [Line Items] |  |  |  |
Length of time hedged in foreign currency contracts | 3 years |  |  |
0.41% CHF700 million bonds due 2023 (0.41% 2023 Swiss franc Bonds) | Notes |  |  |  |
Derivative Instruments Gain Loss [Line Items] |  |  |  |
Interest rate, stated percentage | 0.41% | 0.41% | 0.41% |
Foreign currency and cross currency swap contracts |  |  |  |
Derivative Instruments Gain Loss [Line Items] |  |  |  |
Amounts expected to be reclassified from AOCI into earnings over the next 12 months, foreign currency and cross-currency swaps | $ 35 |  |  |
Designated as Hedging Instrument | Foreign currency forward contracts |  |  |  |
Derivative Instruments Gain Loss [Line Items] |  |  |  |
Notional amount | 6,600 |  | $ 6,000 | $ 5,700
Designated as Hedging Instrument | Interest rate swap contracts |  |  |  |
Derivative Instruments Gain Loss [Line Items] |  |  |  |
Notional amount | 6,700 |  | 6,700 |
Not Designated as Hedging Instrument | Foreign currency forward contracts |  |  |  |
Derivative Instruments Gain Loss [Line Items] |  |  |  |
Notional amount | $ 457 |  | $ 517 | $ 680

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