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Fair value measurements - Assets and Liabilities Measured on Recurring Basis (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets $ 308,800 $ 265,875
Common Collective    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 12,958 6,497
Mutual funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 45,931 50,467
Fixed income securities    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 242,702 198,628
Short-term investments    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 4,175 1,099
Real estate funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 400 680
Cash and accrued income    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 2,634 8,504
Assets measured at NAV    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 77,207 40,104
Assets measured at NAV | Common Collective    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 12,958 6,497
Assets measured at NAV | Mutual funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Assets measured at NAV | Fixed income securities    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 63,849 32,927
Assets measured at NAV | Short-term investments    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Assets measured at NAV | Real estate funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 400 680
Assets measured at NAV | Cash and accrued income    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 1    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 2,634 8,504
Level 1 | Common Collective    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 1 | Mutual funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 1 | Fixed income securities    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 1 | Short-term investments    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 1 | Real estate funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 1 | Cash and accrued income    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 2,634 8,504
Level 2    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 228,959 217,267
Level 2 | Common Collective    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 2 | Mutual funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 45,931 50,467
Level 2 | Fixed income securities    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 178,853 165,701
Level 2 | Short-term investments    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 4,175 1,099
Level 2 | Real estate funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 2 | Cash and accrued income    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 3    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 3 | Common Collective    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 3 | Mutual funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 3 | Fixed income securities    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 3 | Short-term investments    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 3 | Real estate funds    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Level 3 | Cash and accrued income    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Total postretirement benefit plan assets 0 0
Fair Value, Recurring | Hedge derivatives, net: | Net investment hedge    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative (5,073)  
Fair Value, Recurring | Hedge derivatives, net: | Assets measured at NAV | Net investment hedge    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0  
Fair Value, Recurring | Hedge derivatives, net: | Level 1 | Net investment hedge    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0  
Fair Value, Recurring | Hedge derivatives, net: | Level 2 | Net investment hedge    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative (5,073)  
Fair Value, Recurring | Hedge derivatives, net: | Level 3 | Net investment hedge    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0  
Commodity Contracts | Fair Value, Recurring | Hedge derivatives, net:    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative (41) (172)
Commodity Contracts | Fair Value, Recurring | Hedge derivatives, net: | Assets measured at NAV    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Commodity Contracts | Fair Value, Recurring | Hedge derivatives, net: | Level 1    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Commodity Contracts | Fair Value, Recurring | Hedge derivatives, net: | Level 2    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative (41) (172)
Commodity Contracts | Fair Value, Recurring | Hedge derivatives, net: | Level 3    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Commodity Contracts | Fair Value, Recurring | Non-hedge derivatives, net:    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative (6,770) (8,638)
Commodity Contracts | Fair Value, Recurring | Non-hedge derivatives, net: | Assets measured at NAV    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Commodity Contracts | Fair Value, Recurring | Non-hedge derivatives, net: | Level 1    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Commodity Contracts | Fair Value, Recurring | Non-hedge derivatives, net: | Level 2    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative (6,770) (8,638)
Commodity Contracts | Fair Value, Recurring | Non-hedge derivatives, net: | Level 3    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Foreign Exchange Contracts | Fair Value, Recurring | Hedge derivatives, net:    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 1,502 (863)
Foreign Exchange Contracts | Fair Value, Recurring | Hedge derivatives, net: | Assets measured at NAV    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Foreign Exchange Contracts | Fair Value, Recurring | Hedge derivatives, net: | Level 1    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Foreign Exchange Contracts | Fair Value, Recurring | Hedge derivatives, net: | Level 2    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 1,502 (863)
Foreign Exchange Contracts | Fair Value, Recurring | Hedge derivatives, net: | Level 3    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Foreign Exchange Contracts | Fair Value, Recurring | Non-hedge derivatives, net:    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative (29) (54)
Foreign Exchange Contracts | Fair Value, Recurring | Non-hedge derivatives, net: | Assets measured at NAV    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Foreign Exchange Contracts | Fair Value, Recurring | Non-hedge derivatives, net: | Level 1    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative 0 0
Foreign Exchange Contracts | Fair Value, Recurring | Non-hedge derivatives, net: | Level 2    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative (29) (54)
Foreign Exchange Contracts | Fair Value, Recurring | Non-hedge derivatives, net: | Level 3    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Net position of derivative $ 0 $ 0