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Employee benefit plans - Major Actuarial Assumptions Used in Determining PBO, ABO and Net Periodic Cost (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
United States | Retirement Plans      
Weighted-average assumptions used to determine benefit obligations      
Discount Rate 5.01% 2.77%  
Rate of Compensation Increase 0.00% 0.00%  
Weighted-average assumptions used to determine net periodic benefit cost      
Discount Rate 2.77% 2.32% 2.87%
Expected Long-term Rate of Return 3.27% 3.27% 2.93%
Rate of Compensation Increase 0.00% 0.00% 0.00%
United States | Retiree Health and Life Insurance Plans      
Weighted-average assumptions used to determine benefit obligations      
Discount Rate 4.92% 2.48%  
Rate of Compensation Increase 2.99% 3.01%  
Weighted-average assumptions used to determine net periodic benefit cost      
Discount Rate 2.48% 2.04% 2.89%
Expected Long-term Rate of Return 3.18% 2.01% 2.93%
Rate of Compensation Increase 3.01% 3.03% 3.04%
Foreign Plans      
Weighted-average assumptions used to determine benefit obligations      
Discount Rate 4.97% 2.22%  
Rate of Compensation Increase 3.29% 3.21%  
Weighted-average assumptions used to determine net periodic benefit cost      
Discount Rate 2.22% 1.70% 2.28%
Expected Long-term Rate of Return 3.00% 3.69% 4.10%
Rate of Compensation Increase 3.21% 3.20% 3.37%