Pension and postretirement benefits - Components of Plan Benefit Expense (Details) $ in Millions	3 Months Ended
	Apr. 01, 2023 USD ($)
Pension
Defined Benefit Plan Disclosure [Line Items]
Multiemployer Plan, Employer Contribution, Cost (Credit)	$ 2
Nonpension postretirement
Defined Benefit Plan Disclosure [Line Items]
Multiemployer Plan, Employer Contribution, Cost (Credit)	(9)
Gain (loss) recognized in cost of goods sold | Pension
Defined Benefit Plan Disclosure [Line Items]
Multiemployer Plan, Employer Contribution, Cost (Credit)	2
Gain (loss) recognized in cost of goods sold | Nonpension postretirement
Defined Benefit Plan Disclosure [Line Items]
Multiemployer Plan, Employer Contribution, Cost (Credit)	1
Gain (loss) recognized in other income (expense), net | Pension
Defined Benefit Plan Disclosure [Line Items]
Multiemployer Plan, Employer Contribution, Cost (Credit)	0
Gain (loss) recognized in other income (expense), net | Nonpension postretirement
Defined Benefit Plan Disclosure [Line Items]
Multiemployer Plan, Employer Contribution, Cost (Credit)	$ (10)