Revenue & Contract-related Balances - Revenue Performance Obligations (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Transaction price allocated to remaining performance obligation	$ 26,920
Revenue, Performance Obligation, Description of Timing	Amounts expected to occur thereafter generally relate to contract manufacturing, clinical research and extended warranty service agreements, which typically have durations of three to five years.
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Remaining performance obligation percentage	53.00%
Expected timing of satisfaction of remaining performance obligation	12 months