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Equity - Statements of Equity with dividends per share (Details) - USD ($)
$ / shares in Units, $ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Balance at beginning of period     $ 2,972       $ 2,972  
Balance at end of period $ 3,103           3,103  
Dividends declared, common stock (in dollars per share) $ 0.65 $ 0.64 $ 0.64 $ 0.64 $ 0.63 $ 0.63    
Common Stock [Member]                
Balance at beginning of period $ 1 $ 1 $ 1 $ 1 $ 1 $ 1 1 $ 1
Balance at end of period 1 1 1 1 1 1 1 1
Additional Paid-in Capital [Member]                
Balance at beginning of period 1,154 1,155 1,150 1,143 1,142 1,137 1,150 1,137
Share-based compensation, net of issuance 1 (1) 5 2 1 5 5 8
Balance at end of period 1,155 1,154 1,155 1,145 1,143 1,142 1,155 1,145
Treasury Stock [Member]                
Balance at beginning of period (1,029) (1,022) (1,024) (1,027) (1,028) (1,040) (1,024) (1,040)
Repurchases of common stock, net (44) (10) (14)       (68)  
Share-based compensation, net of issuance 1 3 16   1 12 20 13
Balance at end of period (1,072) (1,029) (1,022) (1,027) (1,027) (1,028) (1,072) (1,027)
Accumulated Other Comprehensive Income (Loss) [Member]                
Balance at beginning of period (1,106) (1,164) (1,133) (1,307) (1,322) (1,158) (1,133) (1,158)
Other comprehensive income (loss) 229 58 (31) 48 15 (164) 256 (101)
Balance at end of period (877) (1,106) (1,164) (1,259) (1,307) (1,322) (877) (1,259)
Retained Earnings [Member]                
Balance at beginning of period 3,802 3,667 3,957 3,836 3,813 3,780 3,957 3,780
Net income 118 178 (246) 92 66 75 50 233
Dividends declared, common stock (43) (43) (44) (44) (43) (42) (130) (129)
Balance at end of period 3,877 3,802 3,667 3,884 3,836 3,813 3,877 3,884
Noncontrolling Interest [Member]                
Balance at beginning of period 22 26 21 20 21 21 21 21
Net income 3 3 4 3 1 3 10 7
Dividends declared, common stock (3) (7)   (2) (3)   (10) (5)
Other comprehensive income (loss) (3)   1   1 (3) (2) (2)
Balance at end of period $ 19 $ 22 $ 26 $ 21 $ 20 $ 21 $ 19 $ 21