Employee Benefits - Schedule of asset allocation percentage by major asset class and target allocation (Details)	Dec. 31, 2023	Dec. 31, 2022
U.S. Plans
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	100.00%
Plan assets. actual allocation percentage	100.00%	100.00%
Foreign Plan
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	100.00%
Plan assets. actual allocation percentage	100.00%	100.00%
Equity securities \| U.S. Plans
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	9.00%
Plan assets. actual allocation percentage	8.00%	6.00%
Equity securities \| Foreign Plan
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	21.00%
Plan assets. actual allocation percentage	19.00%	24.00%
Fixed maturity securities \| U.S. Plans
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	80.00%
Plan assets. actual allocation percentage	77.00%	77.00%
Fixed maturity securities \| Foreign Plan
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	58.00%
Plan assets. actual allocation percentage	45.00%	44.00%
Other investments \| U.S. Plans
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	11.00%
Plan assets. actual allocation percentage	15.00%	17.00%
Other investments \| Foreign Plan
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	17.00%
Plan assets. actual allocation percentage	21.00%	23.00%
Cash and cash equivalents \| Foreign Plan
Defined Benefit Plan, Plan Assets, Category [Line Items]
Plan assets, target allocation percentage	4.00%
Plan assets. actual allocation percentage	15.00%	9.00%

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 55
-Paragraph 17
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480482/715-20-55-17

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (d)(ii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (d)(iv)(01)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

Reference 4: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (d)(iv)(03)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

+ Details

Name:	us-gaap_DefinedBenefitPlanPlanAssetsCategoryLineItems
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Percentage of target investment allocation to total plan assets. Includes, but is not limited to, percentage on weighted-average basis if more than one plan.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanPlanAssetsTargetAllocationPercentage
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	instant

- Definition

Percentage of actual investment allocation to total plan assets. Includes, but is not limited to, percentage on weighted-average basis if more than one plan.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (d)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

+ Details

Name:	us-gaap_DefinedBenefitPlanWeightedAverageAssetAllocations
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	instant

- Details

Name:	us-gaap_RetirementPlanSponsorLocationAxis=country_US
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_RetirementPlanSponsorLocationAxis=us-gaap_ForeignPlanMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_DefinedBenefitPlanByPlanAssetCategoriesAxis=us-gaap_EquitySecuritiesMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_DefinedBenefitPlanByPlanAssetCategoriesAxis=us-gaap_FixedMaturitiesMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_DefinedBenefitPlanByPlanAssetCategoriesAxis=us-gaap_OtherInvestmentsMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_DefinedBenefitPlanByPlanAssetCategoriesAxis=us-gaap_CashAndCashEquivalentsMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type: