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Financing arrangements - Miscellaneous (Details)
 12 Months Ended
Dec. 31, 2023
Mar. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt securities payable | Minimum        
Debt Instrument [Line Items]        
Redemption period without payment of make whole amount 1 month      
Debt securities payable | Maximum        
Debt Instrument [Line Items]        
Redemption period without payment of make whole amount 6 months      
4.563% notes due 2048 (4.563% 2048 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.563%      
Effective interest rate on note 6.30%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
4.663% notes due 2051 (4.663% 2051 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.663%      
Effective interest rate on note 5.60%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.77% notes due 2053 (2.77% 2053 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 2.77%      
Effective interest rate on note 5.20%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
3.15% notes due 2040 (3.15% 2040 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 3.15%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
6.40% notes due 2039 (6.40% 2039 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 6.40%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.00% €750 million notes due 2026 (2.00% 2026 euro Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 2.00%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
4.40% notes due 2045 (4.40% 2045 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.40%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
3.625% notes due 2024 (3.625% 2024 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 3.625%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
Four Point Nine Five Percent Notes Due 2041 [Member] | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.95%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
3.35% notes due 2032 (3.35% 2032 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 3.35%   3.35%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
3.00% notes due 2052 (3.00% 2052 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 3.00%   3.00% 3.00%
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.00% notes due 2032 (2.00% 2032 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage       2.00%
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
3.00% notes due 2029 (3.00% 2029 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 3.00%   3.00%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
4.00% £700 million notes due 2029 (4.00% 2029 pound sterling Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.00%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
3.375% notes due 2050 (3.375% 2050 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 3.375%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.80% notes due 2041 (2.80% 2041 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage       2.80%
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
5.375% notes due 2043 (5.375% 2043 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 5.375%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
4.40% notes due 2062 (4.40% 2062 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.40%   4.40%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
5.15% notes due 2041 (5.15% 2041 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 5.15%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
4.875% notes due 2053 (4.875% 2053 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.875%   4.875%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
3.125% notes due 2025 (3.125% 2025 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 3.125%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
5.75% notes due 2040 (5.75% 2040 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 5.75%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.30% notes due 2031 (2.30% 2031 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 2.30%     2.30%
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
5.50% £475 million notes due 2026 (5.50% 2026 pound sterling Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 5.50%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.25% notes due 2023 (2.25% 2023 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage     2.25%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
6.375% notes due 2037 (6.375% 2037 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 6.375%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.60% notes due 2026 (2.60% 2026 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 2.60%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
1.65% notes due in 2028 (1.65% 2028 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 1.65%   1.65% 1.65%
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
1.90% notes due 2025 (1.90% 2025 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 1.90%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
3.20% notes due 2027 (3.20% 2027 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 3.20%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
5.65% notes due 2042 (5.65% 2042 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 5.65%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.20% notes due 2027 (2.20% 2027 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 2.20%   2.20%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
2.45% notes due 2030 (2.45% 2030 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 2.45%     2.45%
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
4.05% notes due 2029 (4.05% 2029 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.05%   4.05%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
6.90% notes due 2038 (6.90% 2038 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 6.90%      
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
4.20% notes due 2052 (4.20% 2052 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.20%   4.20%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
0.41% CHF700 million bonds due 2023 (0.41% 2023 Swiss franc Bonds) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 0.41% 0.41% 0.41%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
4.20% notes due 2033 (4.20% 2033 Notes) | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 4.20%   4.20%  
Percentage of principal amount of notes that may be paid upon occurrence of change in control triggering event 101.00%      
5.507% Notes Due 2026 | Notes        
Debt Instrument [Line Items]        
Interest rate, stated percentage 5.507%      
5.507% Notes Due 2026 | Debt securities payable        
Debt Instrument [Line Items]        
Redemption period without payment of make whole amount 2 years