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Redeemable noncontrolling interest - Schedule of Noncontrolling Redeemable Equity Interest (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Increase (Decrease) in Temporary Equity [Roll Forward]      
Beginning Balance $ 308 $ 336 $ 322
Net income attributable to redeemable noncontrolling interests 28 27 22
Adjustment to the redemption value 24 (40) 18
Dividends paid (27) (15) (26)
Ending Balance $ 333 $ 308 $ 336