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Debt and lines of credit - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Apr. 30, 2022
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Debt Instrument [Line Items]          
Commercial paper   $ 0   $ 0  
Interest and debt expense   49,000,000 $ 44,000,000 101,000,000 $ 90,000,000
Retirement of debt $ 500,000,000     500,000,000 $ 550,000,000
Revolving credit facility          
Debt Instrument [Line Items]          
Line of credit facility, maximum borrowing capacity   $ 1,000,000,000   $ 1,000,000,000