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Income taxes (Reconciliation of Federal Statutory Tax Rate) (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
Federal statutory tax rate 21.00% 21.00% 21.00%
Foreign earnings (4.70%) (4.50%) (4.30%)
Foreign-derived intangible income (0.70%) (0.70%) (0.40%)
Credits, Puerto Rico Excise Tax (2.90%) (2.60%) (2.50%)
2017 Tax Act, net impact on intercompany sales 0.00% 0.00% (1.80%)
Interest on uncertain tax positions 1.10% 1.60% 1.20%
Credits, primarily federal R&D (1.40%) (1.00%) (0.80%)
Audit settlements (1.00%) 0.00% (0.30%)
Other, net (0.70%) 0.40% 0.00%
Effective tax rate 10.70% 14.20% 12.10%