Income taxes - Schedule of Income before Income Tax, Domestic and Foreign (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
U.S.	$ 2,729	$ 2,225	$ 1,596
Non-U.S.	1,285	1,236	1,506
Income from continuing operations before income tax expense and income from equity method investments	$ 4,014	$ 3,461	$ 3,102