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Financing arrangements - Interest Rate Swaps (Details) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Interest rate swap contracts | Designated as Hedging Instrument      
Debt Instrument [Line Items]      
Notional amount $ 6,700 $ 6,700  
Derivative, amount terminated     $ 750
2.45% notes due 2030 (2.45% 2030 Notes) | Notes      
Debt Instrument [Line Items]      
Notional amount     $ 1,000
Interest rate, stated percentage 2.45%   2.45%
2.30% notes due 2031 (2.30% 2031 Notes) | Notes      
Debt Instrument [Line Items]      
Notional amount     $ 500
Interest rate, stated percentage 2.30%   2.30%
3.625% Notes Due 2022 | Notes      
Debt Instrument [Line Items]      
Interest rate, stated percentage     3.625%