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Equity - Stock options (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
3 Months Ended 12 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Stock options, Number of Options      
Outstanding at the beginning of the period (in shares) 2,238    
Granted (in shares) 358 336  
Exercised (in shares) (154)    
Cancelled (in shares) (27)    
Outstanding at the end of the period (in shares) 2,415   2,238
Exercisable at the end of the period (in shares) 1,775    
Stock options, Weighted Average Exercise Price per Share      
Outstanding at the beginning of the period (in dollars per share) $ 86.55    
Granted (in dollars per share) 87.12    
Exercised (in dollars per share) 56.35    
Cancelled (in dollars per share) 94.39    
Outstanding at the end of the period (in dollars per share) 88.68   $ 86.55
Exercisable at the end of the period (in dollars per share) $ 88.90    
Additional information pertaining to stock options      
Average Remaining Contractual Term, Outstanding 5 years 10 months 20 days   5 years 1 month 24 days
Average Remaining Contractual Term, Exercisable 4 years 7 months 28 days    
Aggregate Intrinsic Value, Outstanding (in dollars) $ 20   $ 14
Aggregate Intrinsic Value, Exercisable (in dollars) 19    
Cash received from exercise of stock options $ 9    
Weighted average grant date fair value of stock options granted (per share) $ 12.31 $ 11.48  
Total intrinsic value of stock options exercised $ 5 $ 4  
Stock options      
Share-based compensation      
Term of award 10 years    
Period of vesting 3 years    
Required service period 1 year    
Assumptions used to measure the fair value of awards      
Expected life 5 years 6 months 5 years 6 months  
Risk-free interest rate (as a percent) 0.60% 1.40%  
Expected volatility (as a percent) 23.20% 19.80%  
Expected dividend yield (as a percent) 2.90% 2.90%  
Additional information pertaining to stock options      
Unrecognized compensation cost $ 6    
Weighted-average period for amortization of unrecognized compensation cost 1 year 10 months 24 days