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Leases - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Lessee, Lease, Description [Line Items]      
Short-term lease expenses $ 16 $ 17  
Operating lease expenses 148 162  
Right-of-use asset 454 450  
Operating lease liabilities $ 453 $ 449  
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List] us-gaap:OtherAssets us-gaap:OtherAssets  
Operating Lease, Liability, Statement of Financial Position [Extensible List] us-gaap:OtherLiabilities us-gaap:OtherLiabilities  
Leased assets obtained in exchange for operating lease obligations $ 131 $ 117  
Operating cash outflow for amounts included in the measurement of operating lease obligations $ 148 $ 162  
Weighted average remaining lease term 6 years 7 months 6 days 6 years 10 months 24 days  
Weighted average discount rate 3.00% 3.40%  
Depreciation expense on equipment operating leases $ 266 $ 250 $ 256
Minimum      
Lessee, Lease, Description [Line Items]      
Operating lease term 3 years    
Maximum      
Lessee, Lease, Description [Line Items]      
Operating lease term 5 years