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Summary of Significant Accounting Policies - Property and equipment (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Property and equipment      
Accumulated depreciation on property and equipment $ 2,270 $ 2,160  
Depreciation expense on property and equipment $ 290 $ 267 $ 255
Equipment | Minimum      
Property and equipment      
Property and equipment, estimated useful life, average 3 years    
Equipment | Maximum      
Property and equipment      
Property and equipment, estimated useful life, average 10 years    
Real property      
Property and equipment      
Property and equipment, estimated useful life, average 40 years