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Share-based compensation - Valuation Assumptions (Details) - EUR (€)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Performance shares      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Risk-free interest rate (%) 3.16% 0.51% (0.56%)
Expected volatility (%) 28.90% 36.90% 35.10%
Share options, 3-year      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Risk-free interest rate (%)   2.08% (0.61%)
Expected dividend payments over the expected life (€)   € 4.06 € 3.25
Expected volatility (%)   26.40% 23.50%
Expected life term (years)   3 years 3 years
Share options, 5-year      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Risk-free interest rate (%)   2.24% (0.43%)
Expected dividend payments over the expected life (€)   € 7.05 € 5.65
Expected volatility (%)   24.20% 21.20%
Expected life term (years)   5 years 5 years
Share option | Minimum      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Participant saving period 3 years