Employee Benefits - Schedule of weighted average assumptions used to determine the net periodic benefit costs (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
U.S. Plans
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Expected return on assets	6.25%	4.65%
U.S. Plans | Pension
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	5.22%	2.75%	2.28%
Interest crediting rate	4.02%	2.06%	1.57%
Expected return on assets	6.25%	4.65%	5.15%
U.S. Plans | Postretirement benefit plans
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	5.19%	2.87%	2.45%
Interest crediting rate		2.20%
Expected return on assets		2.78%
Foreign Plan | Pension
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	2.51%	1.09%	1.00%
Interest crediting rate	1.07%	0.70%	0.72%
Rate of compensation increase	2.38%	2.40%	2.28%
Expected return on assets	2.67%	1.84%	2.23%
Foreign Plan | Postretirement benefit plans
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Discount rate	5.23%	2.89%	2.33%