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Income taxes - Changes in unrecognized tax benefits (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Changes in unrecognized tax benefits      
Balance, beginning of the year $ 132 $ 133 $ 119
Gross increases related to current period tax positions 9 5 7
Gross increases related to prior period tax positions 13 6 10
Decrease related to resolution of audits with tax authorities (28)    
Expiration of the statute of limitations (22) (21) (6)
Foreign currency translation (10)    
Foreign currency translation   9 3
Balance, end of year $ 94 $ 132 $ 133