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Retirement benefits - Assets Held In Retirement Benefit Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 2,089,491 $ 1,799,200 $ 1,479,067
Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 219,873 200,831 $ 173,693
Fair value measurements on a recurring basis | Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 2,089,000 1,799,000  
Fair value measurements on a recurring basis | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 2,085,000 1,795,000  
Fair value measurements on a recurring basis | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 1,376,000 $ 1,158,000  
Fair value measurements on a recurring basis | Pension benefits | Non-U.S. Equity Funds      
Fair value measurements on a recurring basis      
Redemption frequency, daily 62.00% 60.00%  
Redemption frequency, monthly 38.00% 40.00%  
Fair value measurements on a recurring basis | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 641,000 $ 598,000  
Fair value measurements on a recurring basis | Pension benefits | Cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 4,000 4,000  
Fair value measurements on a recurring basis | Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 220,000 201,000  
Fair value measurements on a recurring basis | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 220,000 201,000  
Fair value measurements on a recurring basis | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 158,000 $ 141,000  
Fair value measurements on a recurring basis | Other benefits | Non-U.S. Equity Funds      
Fair value measurements on a recurring basis      
Redemption frequency, daily 58.00% 59.00%  
Redemption frequency, monthly 42.00% 41.00%  
Fair value measurements on a recurring basis | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 58,000 $ 56,000  
Fair value measurements on a recurring basis | Other benefits | Cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | Equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 540,000 470,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | Equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 734,000 610,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 363,000 353,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | Equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 68,000 61,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | Equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 77,000 69,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 53,000 52,000  
Fair value measurements on a recurring basis | Level 1 | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,404,000 1,203,000  
Fair value measurements on a recurring basis | Level 1 | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,274,000 1,080,000  
Fair value measurements on a recurring basis | Level 1 | Pension benefits | Equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 540,000 470,000  
Fair value measurements on a recurring basis | Level 1 | Pension benefits | Equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 734,000 610,000  
Fair value measurements on a recurring basis | Level 1 | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 105,000 123,000  
Fair value measurements on a recurring basis | Level 1 | Pension benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 25,000    
Fair value measurements on a recurring basis | Level 1 | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 199,000 179,000  
Fair value measurements on a recurring basis | Level 1 | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 145,000 130,000  
Fair value measurements on a recurring basis | Level 1 | Other benefits | Equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 68,000 61,000  
Fair value measurements on a recurring basis | Level 1 | Other benefits | Equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 77,000 69,000  
Fair value measurements on a recurring basis | Level 1 | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 51,000 49,000  
Fair value measurements on a recurring basis | Level 1 | Other benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 3,000    
Fair value measurements on a recurring basis | Level 2 | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 258,000 230,000  
Fair value measurements on a recurring basis | Level 2 | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 2 | Pension benefits | Equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 2 | Pension benefits | Equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 2 | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 258,000 230,000  
Fair value measurements on a recurring basis | Level 2 | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 2,000 2,000  
Fair value measurements on a recurring basis | Level 2 | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 2 | Other benefits | Equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 2 | Other benefits | Equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 2 | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 2,000 2,000  
Fair value measurements on a recurring basis | Level 3 | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Pension benefits | Equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Pension benefits | Equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Other benefits | Equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Other benefits | Equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Level 3 | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 423,000 362,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 102,000 78,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S. Equity Funds      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 102,000 $ 78,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S. Equity Funds | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period (in days) 5 days 5 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S. Equity Funds | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period (in days) 30 days 30 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 278,000 $ 245,000  
Redemption notice period (in days) 15 days 15 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 68,000    
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Cash equivalents      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 43,000 $ 39,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Cash equivalents | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period (in days) 0 days 0 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Cash equivalents | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period (in days) 1 day 1 day  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 19,000 $ 19,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 13,000 11,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S. Equity Funds      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 13,000 $ 11,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S. Equity Funds | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period (in days) 5 days 5 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S. Equity Funds | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period (in days) 30 days 30 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 5,000 $ 4,000  
Redemption notice period (in days) 15 days 15 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 4,000    
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Cash equivalents      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 1,000 $ 4,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Cash equivalents | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period (in days) 0 days 0 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Cash equivalents | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period (in days) 1 day 1 day