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Guarantees and product warranty - Product Warranty (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Movement in Standard Product Warranty Accrual    
Warranty liability, beginning of period $ 1,761 $ 1,689
Reduction in liability (payments) (835) (778)
Increase in liability (new warranties) 968 850
Warranty liability, end of period $ 1,894 $ 1,761