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Shareholders' equity - Schedule of Stock by Class (Details) € / shares in Units, € in Millions | Dec. 31, 2022 EUR (€) € / shares shares | Dec. 31, 2021 € / shares shares | Dec. 31, 2020 shares
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Class of Stock [Line Items] |  |  |
Common stock, authorized amount | € | € 126.0 |  |
Common stock, shares, outstanding (in shares) | 394,589,411 | 402,601,613 | 416,514,034
Treasury stock, par or stated value per share (in EUR per share) | € / shares | € 0.09 |  |
Number of treasury shares (in shares) | 8,548,631 | 3,873,663 | 2,983,454
Common and treasury stock, par or stated value per share (in EUR per share) | € / shares | € 0.09 |  |
Number of issued shares (in shares) |  |  | 419,497,488
Cumulative Preferred Stock |  |  |
Class of Stock [Line Items] |  |  |
Cumulative preference shares; authorized (number of shares) | 700,000,000 |  |
Cumulative preference shares; nominal value (in EUR per share) | € / shares | € 0.09 |  |
Preferred stock, votes per share (in votes per share) | 1 |  |
Number of issued shares (in shares) | 0 |  |
Common Stock |  |  |
Class of Stock [Line Items] |  |  |
Ordinary Shares, authorized (in shares) | 700,000,000 | 699,999,000 |
Ordinary shares, nominal value (in EUR per share) | € / shares | € 0.09 | € 0.09 |
Common stock, votes per share (in votes per share) | 1 |  |
Common stock, shares, outstanding (in shares) | 394,589,411 | 402,601,613 |
Number of issued shares (in shares) | 403,138,042 | 406,475,276 |

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