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Retirement benefits - Assets Held In Retirement Benefit Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 1,973,539 $ 1,806,379 $ 2,320,745
Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 207,372 190,547 $ 239,311
Fair value measurements on a recurring basis | Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,974,000 1,806,000  
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 1,984,000 1,805,000  
Fair value measurements on a recurring basis | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 1,275,000 $ 1,189,000  
Fair value measurements on a recurring basis | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Redemption frequency, daily 63.00% 59.00%  
Redemption frequency, monthly 37.00% 41.00%  
Fair value measurements on a recurring basis | Pension benefits | Total fixed income investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 599,000 $ 534,000  
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 (10,000) 1,000  
Fair value measurements on a recurring basis | Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 207,000 191,000  
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 207,000 191,000  
Fair value measurements on a recurring basis | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 148,000 $ 134,000  
Fair value measurements on a recurring basis | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Redemption frequency, daily 61.00% 56.00%  
Redemption frequency, monthly 39.00% 44.00%  
Fair value measurements on a recurring basis | Other benefits | Total fixed income investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 55,000 $ 53,000  
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 449,000 387,000  
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 165,000 147,000  
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 (ETFs)      
Fair value measurements on a recurring basis      
Fair value of plan assets 584,000 580,000  
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 85,000 83,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | Fixed income mutual and ETFs      
Fair value measurements on a recurring basis      
Fair value of plan assets 264,000 225,000  
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 54,000 48,000  
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 20,000 18,000  
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 (ETFs)      
Fair value measurements on a recurring basis      
Fair value of plan assets 64,000 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 0  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | Fixed income mutual and ETFs      
Fair value measurements on a recurring basis      
Fair value of plan assets 53,000 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 1,490,000 1,364,000  
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 1,198,000 1,114,000  
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 449,000 387,000  
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 165,000 147,000  
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 (ETFs)      
Fair value measurements on a recurring basis      
Fair value of plan assets 584,000 580,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Total fixed income investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 277,000 235,000  
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 13,000 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 ETFs      
Fair value measurements on a recurring basis      
Fair value of plan assets 264,000 225,000  
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 194,000 177,000  
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 138,000 124,000  
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 54,000 48,000  
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 20,000 18,000  
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 (ETFs)      
Fair value measurements on a recurring basis      
Fair value of plan assets 64,000 58,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Total fixed income investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 53,000 50,000  
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 0  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Fixed income mutual and ETFs      
Fair value measurements on a recurring basis      
Fair value of plan assets 53,000 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 72,000 73,000  
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 0  
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 0  
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 (ETFs)      
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 | Total fixed income investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 72,000 73,000  
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 72,000 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 0  
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 (ETFs)      
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 fixed income 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 | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets   0  
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 422,000 368,000  
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 $ 77,000 $ 75,000  
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 $ 77,000 $ 75,000  
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 $ 250,000 $ 226,000  
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 $ 250,000 $ 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 50,000 34,000  
Unfunded commitments 138,000 56,000  
Unfunded commitments, entered into $ 100,000    
Dissolution written notice period (in months) 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 $ 60,000 48,000  
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 $ 45,000 $ 33,000  
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 $ 13,000 $ 14,000  
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 $ 10,000  
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 $ 10,000  
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 $ 2,000 $ 3,000  
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 $ 2,000 $ 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 1,000 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 3,000 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 $ 0 $ 1,000  
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 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