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Income taxes - Income before income taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Income Tax Disclosure [Abstract]      
Income before income taxes - U.S. $ 3,953 $ 3,218 $ 2,684
Income before income taxes - Non-U.S. 977 998 1,190
Income before income taxes $ 4,930 $ 4,216 $ 3,874