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Stock-based compensation - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock option exercisable period - minimum 1 year    
Stock option exercisable period - maximum 10 years    
Unrecognized compensation cost related to nonvested awards $ 208    
Unrecognized compensation cost expected to be recognized for nonvested award over a weighted-average period (in years) 2 years 2 months 12 days    
Total intrinsic value of options exercised $ 63 $ 61 $ 159
Proceeds from the exercise of stock options 65 80 431
Excess tax benefit realized for tax deductions from options exercised $ 10 $ 10 $ 16
Granted (shares) 0 0 0
Restricted Stock and Restricted Stock Units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation cost $ 222 $ 270 $ 273
Tax benefit recognized from awards $ 53 $ 65 $ 66
Restricted Stock and Restricted Stock Units | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation, vesting period 0 years    
Restricted Stock and Restricted Stock Units | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation, vesting period 4 years    
Performance Units | Executive Committee      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation, vesting period 3 years 3 years 3 years
Shares granted (shares) 576,855 362,798 793,847
Restricted Stock, RSUs and PSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Total fair value of stock-based compensation that vested during the period $ 278 $ 289 $ 260
Tax benefit from awards vested during period $ 11 26 34
Subsidiary Long Term Incentive Plans | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation, required service period 3 years    
Subsidiary Long Term Incentive Plans | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation, required service period 5 years    
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation cost $ 1 1 1
Tax benefit recognized from awards $ 1 1 1
Long-Term Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation, authorized shares (shares) 35,660,228    
Long-Term Incentive Plan, Portion for the Vesting of Retirement Eligible Employees      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation cost $ 84 $ 93 $ 109