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Leases - Narrative (Details) - USD ($)
$ in Billions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Lessee, Lease, Description [Line Items]      
Percentage of operating lease revenue to net sales 3.00% 3.00% 3.00%
Asset under operating lease, original cost $ 3.9 $ 3.6  
Asset under operating lease, net book value $ 1.8 $ 1.6  
Minimum      
Lessee, Lease, Description [Line Items]      
Operating lease contract term 1 year    
Maximum      
Lessee, Lease, Description [Line Items]      
Operating lease contract term 10 years    
Operating lease renewal term 10 years