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Equity - Rollforward of common stock outstanding (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Increase (Decrease) in Stockholders' Equity [Roll Forward]      
Shares issued, beginning of year (in shares) 1,906,671,492    
Treasury stock, beginning of year (in shares) (1,087,984,129)    
Shares outstanding, beginning of year (in shares) 818,700,000 861,600,000 870,000,000.0
Shares issued (in shares) 5,500,000 6,800,000 3,700,000
Shares repurchased (in shares) (90,100,000) (49,700,000) (12,100,000)
Shares issued, end of period (in shares) 1,906,671,492 1,906,671,492  
Treasury stock, end of period (in shares) (1,172,543,436) (1,087,984,129)  
Shares outstanding, end of period (in shares) 734,100,000 818,700,000 861,600,000
Common Stock      
Increase (Decrease) in Stockholders' Equity [Roll Forward]      
Shares issued, beginning of year (in shares) 1,906,700,000 1,906,700,000 1,906,700,000
Shares issued, end of period (in shares) 1,906,700,000 1,906,700,000 1,906,700,000
Treasury Stock      
Increase (Decrease) in Stockholders' Equity [Roll Forward]      
Treasury stock, beginning of year (in shares) (1,088,000,000) (1,045,100,000) (1,036,700,000)
Shares issued (in shares) 5,500,000 6,800,000 3,700,000
Shares repurchased (in shares) (90,100,000) (49,700,000) (12,100,000)
Treasury stock, end of period (in shares) (1,172,600,000) (1,088,000,000) (1,045,100,000)