Stock-based compensation - Summary of Stock Option Assumptions (Details) - Stock options - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Closing price of our common stock on grant date (in usd per share)	$ 235.97	$ 230.92	$ 237.17
Volatility	23.30%	24.50%	25.60%
Expected life (in years)	5 years 8 months 12 days	5 years 8 months 12 days	5 years 8 months 12 days
Risk-free interest rate	3.40%	2.80%	1.00%
Expected dividend yield	3.50%	3.30%	2.90%
Granted (in usd per share)	$ 41.86	$ 42.43	$ 40.43