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Stock-based compensation (Details 2) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Additional Stock-based Award Information under Restricted Stock Units Activity      
Stock-based compensation expense, before tax (in dollars) $ 205 $ 197 $ 206
Income tax benefit corresponding to stock-based compensation expense 35 36 40
Unrecognized compensation cost related to nonvested stock-based compensation awards (in dollars) $ 161    
Term of amortization of unrecognized compensation cost over weighted-average remaining requisite service periods (in years) 1 year 7 months 6 days    
Cash tax benefits realized from stock awards exercised $ 89 $ 103 $ 205
$57.85-83.00      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) $ 57.85    
Exercise Price Range, Maximum (in dollars per share) 83.00    
$89.75-96.31      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) 89.75    
Exercise Price Range, Maximum (in dollars per share) 96.31    
$102.13-110.09      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) 102.13    
Exercise Price Range, Maximum (in dollars per share) 110.03    
$138.35-138.51      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) 138.35    
Exercise Price Range, Maximum (in dollars per share) 138.51    
$141.32-151.12      
Exercise Prices Stock Options/SARs outstanding and exercisable      
Exercise Price Range, Minimum (in dollars per share) 141.32    
Exercise Price Range, Maximum (in dollars per share) $ 151.12    
Stock Options and Stock Appreciation Rights (SARs)      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 14,464,994    
Weighted Average Exercise Price (in dollars per share) $ 99.29    
Aggregate Intrinsic Value outstanding $ 705    
Number of stock awards exercisable at end of the period (in shares) 11,154,215    
Weighted Average Exercise Price (in dollars per share) $ 89.84    
Aggregate Intrinsic Value exercisable $ 647    
Additional Stock-based Award Information under Stock Option and Stock Appreciation Rights      
Weighted-average fair value per share of stock awards granted (in dollars per share) $ 40.98 $ 46.09 $ 25.01
Intrinsic value of stock awards exercised $ 264 $ 348 $ 504
Fair value of stock awards vested 100 86 191
Cash received from stock awards exercised $ 298 $ 370 $ 629
Stock Options and Stock Appreciation Rights (SARs) | $57.85-83.00      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 5,775,829    
Weighted Average Remaining Contractual Life outstanding (in years) 5 years 6 months 7 days    
Weighted Average Exercise Price (in dollars per share) $ 78.64    
Aggregate Intrinsic Value outstanding $ 399    
Number of stock awards exercisable at end of the period (in shares) 5,775,829    
Weighted-Average Remaining Contractual Life exercisable (in years) 5 years 6 months 7 days    
Weighted Average Exercise Price (in dollars per share) $ 78.64    
Aggregate Intrinsic Value exercisable $ 399    
Stock Options and Stock Appreciation Rights (SARs) | $89.75-96.31      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 4,680,238    
Weighted Average Remaining Contractual Life outstanding (in years) 5 years 4 months 17 days    
Weighted Average Exercise Price (in dollars per share) $ 94.56    
Aggregate Intrinsic Value outstanding $ 249    
Number of stock awards exercisable at end of the period (in shares) 3,833,786    
Weighted-Average Remaining Contractual Life exercisable (in years) 4 years 11 months 15 days    
Weighted Average Exercise Price (in dollars per share) $ 94.31    
Aggregate Intrinsic Value exercisable $ 205    
Stock Options and Stock Appreciation Rights (SARs) | $102.13-110.09      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 1,052,650    
Weighted Average Remaining Contractual Life outstanding (in years) 1 year 9 months    
Weighted Average Exercise Price (in dollars per share) $ 106.48    
Aggregate Intrinsic Value outstanding $ 43    
Number of stock awards exercisable at end of the period (in shares) 1,052,650    
Weighted-Average Remaining Contractual Life exercisable (in years) 1 year 9 months    
Weighted Average Exercise Price (in dollars per share) $ 106.48    
Aggregate Intrinsic Value exercisable $ 43    
Stock Options and Stock Appreciation Rights (SARs) | $138.35-138.51      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 1,496,071    
Weighted Average Remaining Contractual Life outstanding (in years) 9 years 3 months 14 days    
Weighted Average Exercise Price (in dollars per share) $ 138.35    
Aggregate Intrinsic Value outstanding $ 14    
Number of stock awards exercisable at end of the period (in shares) 5,119    
Weighted-Average Remaining Contractual Life exercisable (in years) 8 years 8 months 15 days    
Weighted Average Exercise Price (in dollars per share) $ 138.51    
Aggregate Intrinsic Value exercisable $ 0    
Stock Options and Stock Appreciation Rights (SARs) | $141.32-151.12      
Stock Options/SARs outstanding and exercisable      
Number of stock awards outstanding at end of the period (in shares) 1,460,206    
Weighted Average Remaining Contractual Life outstanding (in years) 8 years 3 months 18 days    
Weighted Average Exercise Price (in dollars per share) $ 150.97    
Aggregate Intrinsic Value outstanding $ 0    
Number of stock awards exercisable at end of the period (in shares) 486,831    
Weighted-Average Remaining Contractual Life exercisable (in years) 8 years 3 months 18 days    
Weighted Average Exercise Price (in dollars per share) $ 150.97    
Aggregate Intrinsic Value exercisable $ 0    
Restricted Stock Units (RSUs)      
Additional Stock-based Award Information under Restricted Stock Units Activity      
Outstanding at end of year (in shares) 1,369,203 1,566,070  
Weighted average remaining contractual life (in years) 1 year 6 months    
Weighted-average fair value per share of stock awards granted $ 138.61 $ 150.58 $ 90.11
Fair value of stock awards vested $ 110 $ 180 $ 189
Performance Restricted Stock Units (PRSUs)      
Additional Stock-based Award Information under Restricted Stock Units Activity      
Outstanding at end of year (in shares) 670,115 735,299  
Weighted average remaining contractual life (in years) 1 year 6 months    
Weighted-average fair value per share of stock awards granted $ 138.67 $ 150.98 $ 86.78
Fair value of stock awards vested $ 59 $ 70 $ 20