Summary of Significant Accounting Policies - Additional information (Details) - USD ($) $ in Millions |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Accounting Policies [Abstract] | |||
| Reclassification of development milestones expense from research and development expense | $ 162 | $ 178 | |
| Reclassification of development milestone expense to IPR&D and milestones expense | 162 | 178 | |
| Advertising expenses | $ 2,000 | $ 2,100 | $ 1,800 |
| Amortization period of differences between the expected and actual return on plan assets | 5 years | ||