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Retirement plans - Schedule of Allocation of Plan Assets (Details) - Retirement Plans
Dec. 31, 2022
Dec. 31, 2021
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Target Allocation 100.00%  
Allocation of Plan Assets 100.00% 100.00%
Equity securities    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Target Allocation 14.00%  
Allocation of Plan Assets 14.00% 10.00%
Debt securities    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Target Allocation 86.00%  
Allocation of Plan Assets 86.00% 86.00%
Other (including hedge funds and private real estate)    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Target Allocation 0.00%  
Allocation of Plan Assets 0.00% 4.00%