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Stock-based compensation (Details 2) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Additional Stock-based Award Information under Restricted Stock Units Activity      
Stock-based compensation expense, before tax (in dollars) $ 200 $ 202 $ 205
Income tax benefit corresponding to stock-based compensation expense 23 34 35
Unrecognized compensation cost related to nonvested stock-based compensation awards (in dollars) $ 143    
Term of amortization of unrecognized compensation cost over weighted-average remaining requisite service periods (in years) 1 year 8 months 12 days    
Cash tax benefits realized from stock awards exercised $ 102 $ 108 $ 89
Exercise Price Range One [Member]      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) $ 74.77    
Exercise Price Range, Maximum (in dollars per share) 83.00    
Exercise Price Range Two [Member]      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) 89.75    
Exercise Price Range, Maximum (in dollars per share) 96.31    
Exercise Price Range Three [Member]      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) 110.09    
Exercise Price Range, Maximum (in dollars per share) 110.09    
Exercise Price Range Four [Member]      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) 127.60    
Exercise Price Range, Maximum (in dollars per share) 138.35    
Exercise Price Range Five [Member]      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) 151.12    
Exercise Price Range, Maximum (in dollars per share) $ 219.76    
Stock Options and Stock Appreciation Rights (SARs)      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 7,722,420    
Weighted Average Exercise Price (in dollars per share) $ 127.52    
Aggregate Intrinsic Value outstanding $ 611    
Number of stock awards exercisable at end of the period (in shares) 4,914,111    
Weighted Average Exercise Price (in dollars per share) $ 106.36    
Aggregate Intrinsic Value exercisable $ 493    
Additional Stock-based Award Information under Stock Option and Stock Appreciation Rights      
Weighted-average fair value per share of stock awards granted (in dollars per share) $ 56.30 $ 25.98 $ 40.98
Intrinsic value of stock awards exercised $ 374 $ 386 $ 264
Fair value of stock awards vested 59 64 100
Cash received from stock awards exercised $ 212 $ 282 $ 298
Stock Options and Stock Appreciation Rights (SARs) | Exercise Price Range One [Member]      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 1,846,000    
Weighted Average Remaining Contractual Life outstanding (in years) 3 years 9 months    
Weighted Average Exercise Price (in dollars per share) $ 78.65    
Aggregate Intrinsic Value outstanding $ 236    
Number of stock awards exercisable at end of the period (in shares) 1,846,000    
Weighted-Average Remaining Contractual Life exercisable (in years) 3 years 9 months    
Weighted Average Exercise Price (in dollars per share) $ 78.65    
Aggregate Intrinsic Value exercisable $ 236    
Stock Options and Stock Appreciation Rights (SARs) | Exercise Price Range Two [Member]      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 1,225,687    
Weighted Average Remaining Contractual Life outstanding (in years) 4 years 3 days    
Weighted Average Exercise Price (in dollars per share) $ 95.20    
Aggregate Intrinsic Value outstanding $ 137    
Number of stock awards exercisable at end of the period (in shares) 1,225,182    
Weighted-Average Remaining Contractual Life exercisable (in years) 4 years 3 days    
Weighted Average Exercise Price (in dollars per share) $ 95.20    
Aggregate Intrinsic Value exercisable $ 137    
Stock Options and Stock Appreciation Rights (SARs) | Exercise Price Range Three [Member]      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 39,909    
Weighted Average Remaining Contractual Life outstanding (in years) 2 months 1 day    
Weighted Average Exercise Price (in dollars per share) $ 110.09    
Aggregate Intrinsic Value outstanding $ 4    
Number of stock awards exercisable at end of the period (in shares) 39,909    
Weighted-Average Remaining Contractual Life exercisable (in years) 2 months 1 day    
Weighted Average Exercise Price (in dollars per share) $ 110.09    
Aggregate Intrinsic Value exercisable $ 4    
Stock Options and Stock Appreciation Rights (SARs) | Exercise Price Range Four [Member]      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 2,675,475    
Weighted Average Remaining Contractual Life outstanding (in years) 7 years 10 months 17 days    
Weighted Average Exercise Price (in dollars per share) $ 131.81    
Aggregate Intrinsic Value outstanding $ 200    
Number of stock awards exercisable at end of the period (in shares) 936,141    
Weighted-Average Remaining Contractual Life exercisable (in years) 7 years 8 months 4 days    
Weighted Average Exercise Price (in dollars per share) $ 134.01    
Aggregate Intrinsic Value exercisable $ 68    
Stock Options and Stock Appreciation Rights (SARs) | Exercise Price Range Five [Member]      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 1,935,349    
Weighted Average Remaining Contractual Life outstanding (in years) 7 years 11 months 4 days    
Weighted Average Exercise Price (in dollars per share) $ 189.01    
Aggregate Intrinsic Value outstanding $ 34    
Number of stock awards exercisable at end of the period (in shares) 866,879    
Weighted-Average Remaining Contractual Life exercisable (in years) 6 years 3 months 3 days    
Weighted Average Exercise Price (in dollars per share) $ 151.12    
Aggregate Intrinsic Value exercisable $ 48    
Restricted Stock Units (RSUs)      
Additional Stock-based Award Information under Restricted Stock Units Activity      
Outstanding at end of year (in shares) 1,100,181 1,327,950  
Weighted average remaining contractual life (in years) 1 year 4 months 24 days    
Weighted-average fair value per share of stock awards granted $ 216.50 $ 128.07 $ 138.61
Fair value of stock awards vested $ 136 $ 87 $ 110
Performance Restricted Stock Units (PRSUs)      
Additional Stock-based Award Information under Restricted Stock Units Activity      
Outstanding at end of year (in shares) 645,373 727,757  
Weighted average remaining contractual life (in years) 1 year 4 months 24 days    
Weighted-average fair value per share of stock awards granted $ 215.45 $ 128.41 $ 138.67
Fair value of stock awards vested $ 74 $ 59 $ 59