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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, 2023	Dec. 31, 2022	Dec. 31, 2021
United States | Retirement Plans
Weighted-average assumptions used to determine benefit obligations
Discount Rate	4.84%	5.01%
Rate of Compensation Increase	0.00%	0.00%
Weighted-average assumptions used to determine net periodic benefit cost
Discount Rate	5.01%	2.77%	2.32%
Expected Long-term Rate of Return	2.48%	3.27%	3.27%
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	4.68%	4.92%
Rate of Compensation Increase	3.03%	2.99%
Weighted-average assumptions used to determine net periodic benefit cost
Discount Rate	4.92%	2.48%	2.04%
Expected Long-term Rate of Return	2.45%	3.18%	2.01%
Rate of Compensation Increase	2.99%	3.01%	3.03%
Foreign Plans
Weighted-average assumptions used to determine benefit obligations
Discount Rate	4.79%	4.97%
Rate of Compensation Increase	3.11%	3.29%
Weighted-average assumptions used to determine net periodic benefit cost
Discount Rate	4.97%	2.22%	1.70%
Expected Long-term Rate of Return	4.70%	3.00%	3.69%
Rate of Compensation Increase	3.29%	3.21%	3.20%

X

- Definition

Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(1)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate increase of compensation, used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate for present value of future retirement benefits cash flows, used to determine net periodic benefit cost of defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(1)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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X

- Definition

Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-8

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(3)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate of compensation increase used to determine net periodic benefit cost of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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