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Income taxes - Reconciliation of Federal Statutory Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Federal statutory tax rate	21.00%	21.00%	21.00%
Foreign earnings	(5.10%)	(5.60%)	(7.80%)
Foreign-derived intangible income	(1.30%)	(1.30%)	(1.00%)
Credits, Puerto Rico excise tax	0.30%	(2.80%)	(3.40%)
Interest on uncertain tax positions	2.60%	1.90%	1.10%
Credits, primarily federal R&D	(3.50%)	(2.00%)	(2.10%)
Acquisition IPR&D	0.00%	0.00%	4.90%
Other, net	0.50%	(0.40%)	(0.60%)
Effective tax rate	14.50%	10.80%	12.10%

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Effective Income Tax Rate Reconciliation, Interest On Uncertain Tax Positions, Percent

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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-Topic 740
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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of reported income tax benefit from difference to income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to foreign-derived intangible income (FDII).

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