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Revenue - Recognized Revenue (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]      
Revenue recognized $ 12,010 $ 12,943 $ 11,394
Transferred over Time      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]      
Revenue recognized 6,472 6,937 6,097
Transferred at Point in Time      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]      
Revenue recognized $ 5,538 $ 6,006 $ 5,297