Revenue - Disaggregation of Revenue (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Total Revenues	$ 6,886	$ 7,107	$ 7,038
Equipment
Disaggregation of Revenue [Line Items]
Total Revenues	1,655	1,624	1,581
Supplies, paper and other sales
Disaggregation of Revenue [Line Items]
Total Revenues	1,065	1,176	1,001
Maintenance agreements
Disaggregation of Revenue [Line Items]
Total Revenues	1,631	1,730	1,787
Service arrangements
Disaggregation of Revenue [Line Items]
Total Revenues	1,984	1,953	1,991
Rental and other
Disaggregation of Revenue [Line Items]
Total Revenues	360	417	457
Financing
Disaggregation of Revenue [Line Items]
Total Revenues	191	207	221
Sales
Disaggregation of Revenue [Line Items]
Total Revenues	2,720	2,800	2,582
Sales | Direct equipment lease
Disaggregation of Revenue [Line Items]
Total Revenues	920	708	664
Sales | Distributors & resellers
Disaggregation of Revenue [Line Items]
Total Revenues	1,044	1,222	1,130
Sales | Customer direct
Disaggregation of Revenue [Line Items]
Total Revenues	756	870	788
United States
Disaggregation of Revenue [Line Items]
Total Revenues	3,826	4,014	3,982
Europe
Disaggregation of Revenue [Line Items]
Total Revenues	1,951	1,935	2,023
Canada
Disaggregation of Revenue [Line Items]
Total Revenues	554	545	398
Other
Disaggregation of Revenue [Line Items]
Total Revenues	$ 555	$ 613	$ 635