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Income taxes - Components of Income before Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Disclosure [Abstract]      
Domestic $ 3,516 $ 3,008 $ 2,699
Foreign 2,071 2,184 1,911
Income before income taxes $ 5,587 $ 5,192 $ 4,610