Retirement plans - Schedule of Assumptions Used in Calculating Pension Benefit Obligations Table (Details)	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Retirement Plans
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	5.50%	2.89%	2.54%

Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (k)(1)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

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