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Employee plans - Schedule of Weighted-Average Assumptions (Details) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Pension Plans | U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rate (as a percentage) | 6.04% | 3.18% | 2.85%
Expected long-term rate of return on assets (as a percentage) | 7.10% | 6.50% | 6.07%
Weighted-average assumptions used to determine benefit obligations at December 31 were as follows: |  |  |
Discount rate (as a percentage) | 5.70% | 6.04% | 3.18%
Pension Plans | International Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rate (as a percentage) | 4.80% | 1.73% | 1.23%
Expected long-term rate of return on assets (as a percentage) | 4.44% | 3.88% | 3.30%
Weighted-average assumptions used to determine benefit obligations at December 31 were as follows: |  |  |
Discount rate (as a percentage) | 4.24% | 4.80% | 1.73%
Other Postretirement Benefit Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rate (as a percentage) | 5.39% | 2.70% | 2.21%
Expected long-term rate of return on assets (as a percentage) | 5.50% | 5.50% | 5.50%
Weighted-average assumptions used to determine benefit obligations at December 31 were as follows: |  |  |
Discount rate (as a percentage) | 5.03% | 5.39% | 2.70%

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- 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 + Details
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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 + Details
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- 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 + Details
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