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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