Employee benefit plans - Schedule of Weighted-Average Assumptions Used to Determine Benefit Obligations and Related Expenses (Details) - Pension Benefits	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan Disclosure
Discount rate, Obligation	4.73%	4.93%	2.59%
Discount rate, Expense	4.93%	2.59%	2.25%
Expected long-term return on plan assets	7.50%	7.50%	7.50%