Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Software license contracts term (in years)	1 year
Deferred income recognized as revenue	$ 520	$ 500
Operating lease revenue	$ 590	$ 577	$ 582
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration]	Net sales	Net sales	Net sales
United States
Disaggregation of Revenue [Line Items]
Net sales	$ 15,100	$ 15,000	$ 15,000
China/Hong Kong
Disaggregation of Revenue [Line Items]
Net sales	$ 3,200	$ 3,800	$ 4,000