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Share-based compensation - Schedule of Assumptions Used to Determine the Fair Value of Long-Term Incentive Plan (LTIP) Linked to Total Return to Shareholders (TRS) (Details) - LTIP linked to TRS - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Risk-free interest rate 4.19% 1.71% 0.19%
Expected life in years 3 years 3 years 3 years
Expected volatility 33.10% 31.00% 29.90%
Range of expected volatility for Peer Group, minimum 28.70% 25.40% 25.60%
Range of expected volatility for Peer Group, maximum 38.80% 76.70% 102.90%
Grant date fair value (in dollars per share) $ 55.98 $ 54.92 $ 41.12