Employee Benefits - Schedule of weighted average assumptions used to determine the benefit obligations (Details)	Dec. 31, 2023	Dec. 31, 2022
Pension | U.S. Plans
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	4.98%	5.22%
Interest crediting rate	4.94%	4.02%
Pension | Foreign Plan
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	2.85%	2.51%
Interest crediting rate	1.40%	1.07%
Rate of compensation increase	2.42%	2.38%
Postretirement benefit plans | U.S. Plans
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	4.97%	5.19%
Postretirement benefit plans | Foreign Plan
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	5.37%	5.23%