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Income Taxes - Unrecognized tax benefit (expense) (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Balance, beginning of period $ 22 $ 16 $ 15
Gross increases - tax positions in current period 5 6 6
Lapse of statute of limitations 1 0 5
Balance, end of period 26 22 16
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]      
Lapse of statute of limitations 1 0 5
Unrecognized Tax Benefits 26 22 16
Gross increases - tax positions in current period $ 5 $ 6 6
Tax Year 2020      
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Gross increases - tax positions in current period     4
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]      
Gross increases - tax positions in current period     4
Tax Year 2018      
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Lapse of statute of limitations     5
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]      
Lapse of statute of limitations     $ 5