Revenue from Contracts with Customers - Estimate at Completion Adjustments (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Change in Accounting Estimate [Line Items]
Revenue	$ 2,826	$ 2,693	$ 2,879
Contracts Accounted for under Percentage of Completion
Change in Accounting Estimate [Line Items]
Revenue	$ (23)	$ (26)	$ (34)
Total % of Revenue	1.00%	1.00%	1.00%

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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+ Details