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Pension and other postretirement benefits - Schedule of Fair Value of Plan Assets (Details) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets $ 449 $ 446 $ 601
Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 2,524 2,316 3,015
Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 14 30  
Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 2,017 2,074  
Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 431 397  
Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 368 110  
Level 3 | United States      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 4 19 20
Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 4 19  
Level 3 | Non-U.S.      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 139 132 174
Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 139 132  
Cash and cash equivalents | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 3 4  
Cash and cash equivalents | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 65 53  
Cash and cash equivalents | Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 3 4  
Cash and cash equivalents | Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 50 53  
Cash and cash equivalents | Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Cash and cash equivalents | Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 15 0  
Cash and cash equivalents | Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Cash and cash equivalents | Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Equity instruments | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 90 83  
Equity instruments | United States | Pension Plans | Developed markets      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 79 73  
Equity instruments | United States | Pension Plans | Emerging markets      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 11 10  
Equity instruments | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 518 501  
Equity instruments | Non-U.S. | Pension Plans | Developed markets      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 486 470  
Equity instruments | Non-U.S. | Pension Plans | Emerging markets      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 32 31  
Equity instruments | Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Equity instruments | Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 462 435  
Equity instruments | Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 90 83  
Equity instruments | Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 56 66  
Equity instruments | Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Equity instruments | Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Debt instrument | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 341 317  
Debt instrument | United States | Pension Plans | Non-government debt instruments      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 233 189  
Debt instrument | United States | Pension Plans | Government fixed interest instruments      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 108 128  
Debt instrument | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 1,489 1,324  
Debt instrument | Non-U.S. | Pension Plans | Non-government debt instruments      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 251 197  
Debt instrument | Non-U.S. | Pension Plans | Government fixed interest instruments      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 400 437  
Debt instrument | Non-U.S. | Pension Plans | Inflation-protected bonds      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 41    
Debt instrument | Non-U.S. | Pension Plans | Government inflation-protected bonds      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 763 663  
Debt instrument | Non-U.S. | Pension Plans | Asset-backed securities      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 34 27  
Debt instrument | Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 3  
Debt instrument | Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 1,310 1,288  
Debt instrument | Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 341 314  
Debt instrument | Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 179 36  
Debt instrument | Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Debt instrument | Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Real estate | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Real estate | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 193 194  
Real estate | Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Real estate | Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 97 181  
Real estate | Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Real estate | Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 82 0  
Real estate | Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Real estate | Level 3 | Non-U.S.      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 14 13 17
Real estate | Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 14 13  
Derivatives | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Derivatives | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 14 7  
Derivatives | Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Derivatives | Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 12 12  
Derivatives | Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Derivatives | Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 2 (5)  
Derivatives | Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Derivatives | Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Investment funds | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 11 34  
Investment funds | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 98 88  
Investment funds | Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 11 23  
Investment funds | Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 85 77  
Investment funds | Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Investment funds | Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 13 11  
Investment funds | Level 3 | United States      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 11 11
Investment funds | Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 11  
Investment funds | Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Assets held by insurance company | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Assets held by insurance company | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 119 115  
Assets held by insurance company | Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Assets held by insurance company | Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Assets held by insurance company | Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Assets held by insurance company | Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 2 2  
Assets held by insurance company | Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Assets held by insurance company | Level 3 | Non-U.S.      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 117 113 152
Assets held by insurance company | Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 117 113  
Other | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 4 8  
Other | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 28 34  
Other | Level 1 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Other | Level 1 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 1 28  
Other | Level 2 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 0 0  
Other | Level 2 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 19 0  
Other | Level 3 | United States      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 4 8 9
Other | Level 3 | United States | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 4 8  
Other | Level 3 | Non-U.S.      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets 8 6 $ 5
Other | Level 3 | Non-U.S. | Pension Plans      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of plan assets $ 8 $ 6