Pension and other postretirement benefits - Schedule of Fair Value of Plan Assets (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 |
United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 449 | $ 446 | $ 601 |
Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 2,524 | 2,316 | 3,015 |
Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 14 | 30 | |
Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 2,017 | 2,074 | |
Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 431 | 397 | |
Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 368 | 110 | |
Level 3 | United States | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 4 | 19 | 20 |
Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 4 | 19 | |
Level 3 | Non-U.S. | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 139 | 132 | 174 |
Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 139 | 132 | |
Cash and cash equivalents | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 3 | 4 | |
Cash and cash equivalents | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 65 | 53 | |
Cash and cash equivalents | Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 3 | 4 | |
Cash and cash equivalents | Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 50 | 53 | |
Cash and cash equivalents | Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Cash and cash equivalents | Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 15 | 0 | |
Cash and cash equivalents | Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Cash and cash equivalents | Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Equity instruments | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 90 | 83 | |
Equity instruments | United States | Pension Plans | Developed markets | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 79 | 73 | |
Equity instruments | United States | Pension Plans | Emerging markets | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 11 | 10 | |
Equity instruments | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 518 | 501 | |
Equity instruments | Non-U.S. | Pension Plans | Developed markets | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 486 | 470 | |
Equity instruments | Non-U.S. | Pension Plans | Emerging markets | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 32 | 31 | |
Equity instruments | Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Equity instruments | Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 462 | 435 | |
Equity instruments | Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 90 | 83 | |
Equity instruments | Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 56 | 66 | |
Equity instruments | Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Equity instruments | Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Debt instrument | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 341 | 317 | |
Debt instrument | United States | Pension Plans | Non-government debt instruments | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 233 | 189 | |
Debt instrument | United States | Pension Plans | Government fixed interest instruments | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 108 | 128 | |
Debt instrument | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 1,489 | 1,324 | |
Debt instrument | Non-U.S. | Pension Plans | Non-government debt instruments | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 251 | 197 | |
Debt instrument | Non-U.S. | Pension Plans | Government fixed interest instruments | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 400 | 437 | |
Debt instrument | Non-U.S. | Pension Plans | Inflation-protected bonds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 41 | | |
Debt instrument | Non-U.S. | Pension Plans | Government inflation-protected bonds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 763 | 663 | |
Debt instrument | Non-U.S. | Pension Plans | Asset-backed securities | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 34 | 27 | |
Debt instrument | Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 3 | |
Debt instrument | Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 1,310 | 1,288 | |
Debt instrument | Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 341 | 314 | |
Debt instrument | Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 179 | 36 | |
Debt instrument | Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Debt instrument | Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Real estate | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Real estate | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 193 | 194 | |
Real estate | Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Real estate | Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 97 | 181 | |
Real estate | Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Real estate | Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 82 | 0 | |
Real estate | Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Real estate | Level 3 | Non-U.S. | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 14 | 13 | 17 |
Real estate | Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 14 | 13 | |
Derivatives | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Derivatives | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 14 | 7 | |
Derivatives | Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Derivatives | Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 12 | 12 | |
Derivatives | Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Derivatives | Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 2 | (5) | |
Derivatives | Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Derivatives | Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Investment funds | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 11 | 34 | |
Investment funds | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 98 | 88 | |
Investment funds | Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 11 | 23 | |
Investment funds | Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 85 | 77 | |
Investment funds | Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Investment funds | Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 13 | 11 | |
Investment funds | Level 3 | United States | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 11 | 11 |
Investment funds | Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 11 | |
Investment funds | Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Assets held by insurance company | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Assets held by insurance company | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 119 | 115 | |
Assets held by insurance company | Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Assets held by insurance company | Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Assets held by insurance company | Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Assets held by insurance company | Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 2 | 2 | |
Assets held by insurance company | Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Assets held by insurance company | Level 3 | Non-U.S. | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 117 | 113 | 152 |
Assets held by insurance company | Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 117 | 113 | |
Other | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 4 | 8 | |
Other | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 28 | 34 | |
Other | Level 1 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Other | Level 1 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 1 | 28 | |
Other | Level 2 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 0 | 0 | |
Other | Level 2 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 19 | 0 | |
Other | Level 3 | United States | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 4 | 8 | 9 |
Other | Level 3 | United States | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 4 | 8 | |
Other | Level 3 | Non-U.S. | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | 8 | 6 | $ 5 |
Other | Level 3 | Non-U.S. | Pension Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Fair value of plan assets | $ 8 | $ 6 | |