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Retirement benefits - Assets Held In Retirement Benefit Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 1,806,379 $ 2,320,745 $ 2,089,491
Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 190,547 239,311 $ 219,873
Fair value measurements on a recurring basis | Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,806,000 2,321,000  
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 1,805,000 2,318,000  
Fair value measurements on a recurring basis | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 1,189,000 $ 1,546,000  
Fair value measurements on a recurring basis | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Redemption frequency, daily 59.00% 61.00%  
Redemption frequency, monthly 41.00% 39.00%  
Fair value measurements on a recurring basis | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 534,000 $ 700,000  
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 1,000 3,000  
Fair value measurements on a recurring basis | Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 191,000 239,000  
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 191,000 239,000  
Fair value measurements on a recurring basis | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 134,000 $ 173,000  
Fair value measurements on a recurring basis | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Redemption frequency, daily 56.00% 57.00%  
Redemption frequency, monthly 44.00% 43.00%  
Fair value measurements on a recurring basis | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 53,000 $ 63,000  
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 | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 387,000 432,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 147,000 188,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 580,000 830,000  
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   393,000  
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 83,000    
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | Fixed income mutual and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 225,000    
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 48,000 53,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 18,000 24,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 58,000 84,000  
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   58,000  
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 0    
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | Fixed income mutual and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 50,000    
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,364,000 1,610,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,114,000 1,449,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 387,000 431,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 147,000 188,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 580,000 830,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 235,000 146,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 10,000    
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Fixed income mutual and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 225,000    
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 15,000 15,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 177,000 220,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 124,000 161,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 48,000 53,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 18,000 24,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 58,000 84,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 50,000 56,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0    
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Fixed income mutual and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 50,000    
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 3,000 3,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 73,000 248,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 1,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 1,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | U.S. 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 | Significant other observable inputs (Level 2) | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 73,000 247,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 73,000    
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 2,000  
Fair value measurements on a recurring basis | Significant other observable inputs (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 | Significant other observable inputs (Level 2) | Other benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | U.S. 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 | Significant other observable inputs (Level 2) | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 2,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | Private equity at NAV      
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 368,000 460,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 75,000 $ 96,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S equity securities | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period 5 days 5 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S equity securities | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period 30 days 30 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S. equity investments at net asset value (NAV)      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 75,000 $ 96,000  
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 $ 226,000 $ 307,000  
Redemption notice period 15 days 15 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Fixed income investments at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 226,000    
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 34,000 $ 22,000  
Unfunded commitments $ 56,000 66,000  
Dissolution written notice period 6 months    
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 $ 48,000 50,000  
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 $ 33,000 $ 35,000  
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 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 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 $ 14,000 $ 17,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 10,000 $ 12,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S equity securities | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period 5 days 5 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S equity securities | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period 30 days 30 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S. equity investments at net asset value (NAV)      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 10,000 $ 12,000  
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 $ 3,000 $ 5,000  
Redemption notice period 15 days 15 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Fixed income investments at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 3,000    
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 $ 0  
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 3,000  
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 $ 0  
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 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 1 day 1 day