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Share Transactions - Share-based compensation (Details) - $ / shares
shares in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Grants during period, options (shares) 0.5 0.7
Weighted average grant date fair value, options (per share) $ 23.49 $ 13.13
Performance shares and units    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Grants during period, other than options (shares) 0.6 0.7
Weighted average grant date fair value, other than options (per share) $ 74.06 $ 49.91
Restricted shares and units    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Grants during period, other than options (shares) 0.8 1.0
Weighted average grant date fair value, other than options (per share) $ 69.25 $ 47.54