Stock-based compensation (Details) - $ / shares		12 Months Ended
	Jun. 01, 2017	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Jun. 01, 2014
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares issued from treasury stock for stock-based compensation (in shares)		3,571,503	5,317,243	5,126,379
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant		33,880,674
Term life of SARs and option awards (in years)		10 years
Required minimum age of a participant upon separation from service to meet the criteria for Long Service Separation (in years)		55 years
Minimum term of service to meet criteria for Long Service Separation (in years)		5 years
Term life of vested options/SARs from separation date (in years)		5 years
Assumptions used in determining the fair value of the stock-based awards
Weighted-average dividend yield (as a percent)		2.60%	2.50%	2.60%
Weighted-average volatility (as a percent)		32.90%	25.70%	29.10%
Volatilities, low end of range (as a percent)		29.20%	24.50%	25.10%
Volatilities, high end of range (as a percent)		45.80%	29.70%	38.70%
Risk-free interest rates, low end of range (as a percent)		0.06%	1.21%	2.48%
Risk-free interest rates, high end of range (as a percent)		1.41%	1.39%	2.68%
Weighted-average expected lives (in years)		8 years	8 years	7 years
Weighted-Average Grant Date Fair Value for RSUs and PSUs
Number of additional shares authorized under the plan (in shares)	36,000,000
Number of shares authorized under the plans (in shares)		74,800,000			38,800,000
Stock Options and Stock Appreciation Rights (SARs)
Stock options/SARs activity
Outstanding at beginning of year (in shares)		10,076,983
Granted to officers and key employees		(1,084,821)
Exercised (in shares)		(3,399,720)
Forfeited / expired (in shares)		(39,664)
Outstanding at end of year (in shares)		7,722,420	10,076,983
Number of stock awards exercisable at end of the period (in shares)		4,914,111
Weighted- Average Exercise Price for Stock options/SARs
Outstanding at beginning of year (in dollars per shares)		$ 109.60
Granted to officers and key employees (in dollars per shares)		219.76
Exercised (in dollars per shares)		103.45
Forfeited / expired (in dollars per shares)		161.34
Outstanding at end of year (in dollars per shares)		127.52	$ 109.60
Exercisable at year-end (in dollars per share)		$ 106.36
Restricted Stock Units (RSUs)
RSUs/PSUs activity
Outstanding at beginning of year (in shares)		1,327,950
Granted to officers and key employees (in shares)		472,698
Vested (in shares)		(665,357)
Forfeited (in shares)		(35,110)
Outstanding at end of year (in shares)		1,100,181	1,327,950
Weighted-Average Grant Date Fair Value for RSUs and PSUs
Outstanding at beginning of year (in dollars per shares)		$ 134.89
Granted to officers and key employees (in dollars per shares)		216.50	$ 128.07	$ 138.61
Vested (in dollars per shares)		138.90
Forfeited (in dollars per shares)		167.12
Outstanding at end of year (in dollars per shares)		$ 166.50	$ 134.89
Performance Restricted Stock Units (PRSUs)
RSUs/PSUs activity
Outstanding at beginning of year (in shares)		727,757
Granted to officers and key employees (in shares)		285,056
Vested (in shares)		(356,618)
Forfeited (in shares)		(10,822)
Outstanding at end of year (in shares)		645,373	727,757
Weighted-Average Grant Date Fair Value for RSUs and PSUs
Outstanding at beginning of year (in dollars per shares)		$ 132.81
Granted to officers and key employees (in dollars per shares)		215.45	$ 128.41	$ 138.67
Vested (in dollars per shares)		138.35
Forfeited (in dollars per shares)		163.02
Outstanding at end of year (in dollars per shares)		$ 165.74	$ 132.81
2015 and later grants | Performance Restricted Stock Units (PRSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Graded vesting period of awards granted		3 years
Percentage of award vested on first anniversary of grant date | 2015 and later grants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Portion of the award vested on each anniversary of the grant date		33.33%
Percentage of award vested on second anniversary of grant date | 2015 and later grants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Portion of the award vested on each anniversary of the grant date		33.33%
Percentage of award vested on third anniversary of grant date | 2015 and later grants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Portion of the award vested on each anniversary of the grant date		33.33%