Retirement Programs - Plans Where the ABO Exceeds Plan Assets Fair Value (Details) - Pensions - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
U.S.
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation ("ABO")	$ 1,952	$ 1,895
Fair value of plan assets	1,945	1,791
Non-U.S.
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation ("ABO")	1,880	1,848
Fair value of plan assets	$ 1,385	$ 1,472