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Share Transactions - Share-based compensation (Details) - $ / shares
shares in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Grants during period, options (shares) 0.4 0.5
Weighted average grant date fair value, options (per share) $ 30.73 $ 23.49
Performance shares and units    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Grants during period, other than options (shares) 0.5 0.6
Weighted average grant date fair value, other than options (per share) $ 93.28 $ 74.06
Restricted shares and units    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Grants during period, other than options (shares) 0.7 0.8
Weighted average grant date fair value, other than options (per share) $ 87.22 $ 69.25