Financing arrangements - Interest Rate and Cross-Currency Swaps (Details) - Notes payable - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Notional amount	$ 6,650	$ 6,650
3.625% notes due 2024 (3.625% 2024 Notes)
Debt Instrument [Line Items]
Interest rate, stated percentage	3.625%
Notional amount	$ 1,400	$ 1,400
3.625% notes due 2024 (3.625% 2024 Notes) | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Derivative, effective interest rate	3.40%	3.40%
3.125% notes due 2025 (3.125% 2025 Notes)
Debt Instrument [Line Items]
Interest rate, stated percentage	3.125%
Notional amount	$ 1,000	$ 1,000
3.125% notes due 2025 (3.125% 2025 Notes) | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Derivative, effective interest rate	2.10%	2.10%
2.60% notes due 2026 (2.60% 2026 Notes)
Debt Instrument [Line Items]
Interest rate, stated percentage	2.60%
Notional amount	$ 1,250	$ 1,250
2.60% notes due 2026 (2.60% 2026 Notes) | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Derivative, effective interest rate	2.10%	2.10%
2.45% notes due 2030 (2.45% 2030 Notes)
Debt Instrument [Line Items]
Interest rate, stated percentage	2.45%
Notional amount	$ 1,000	$ 1,000
2.45% notes due 2030 (2.45% 2030 Notes) | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Derivative, effective interest rate	1.30%	1.30%
2.30% notes due 2031 (2.30% 2031 Notes)
Debt Instrument [Line Items]
Interest rate, stated percentage	2.30%
Notional amount	$ 500	$ 500
2.30% notes due 2031 (2.30% 2031 Notes) | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Derivative, effective interest rate	1.10%	1.10%
4.663% notes due 2051 (4.663% 2051 Notes)
Debt Instrument [Line Items]
Interest rate, stated percentage	4.663%
Notional amount	$ 1,500	$ 1,500
4.663% notes due 2051 (4.663% 2051 Notes) | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Derivative, effective interest rate	4.30%	4.30%