Postretirement benefits Weighted Average Assumption used to determine the net periodic cost of benefit (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Pension Plan [Member] | UNITED STATES
Defined Benefit Plan Disclosure [Line Items]
Rate of Compensation Increase		4.00%	4.00%
Expected Long-term Return on Assets	7.00%	7.00%	7.00%
Interest crediting rate, net periodic benefit costs	4.10%	4.10%	4.10%
Pension Plan [Member] | UNITED STATES | Interest Cost [Member]
Defined Benefit Plan Disclosure [Line Items]
Defined Benefit Plan, Assumptions Used Calculating Net Periodic Benefit Cost, Discount Rate	2.85%	3.94%	3.27%
Pension Plan [Member] | UNITED STATES | Service Cost [Member]
Defined Benefit Plan Disclosure [Line Items]
Defined Benefit Plan, Assumptions Used Calculating Net Periodic Benefit Cost, Discount Rate		4.23%	3.62%
Pension Plan [Member] | Non - U.S.
Defined Benefit Plan Disclosure [Line Items]
Rate of Compensation Increase	3.26%	3.37%	3.46%
Expected Long-term Return on Assets	3.83%	4.40%	4.32%
Pension Plan [Member] | Non - U.S. | Interest Cost [Member]
Defined Benefit Plan Disclosure [Line Items]
Defined Benefit Plan, Assumptions Used Calculating Net Periodic Benefit Cost, Discount Rate	2.24%	2.88%	2.55%
Pension Plan [Member] | Non - U.S. | Service Cost [Member]
Defined Benefit Plan Disclosure [Line Items]
Defined Benefit Plan, Assumptions Used Calculating Net Periodic Benefit Cost, Discount Rate	6.04%	4.48%	3.97%
Other Postretirement Benefits Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Expected Long-term Return on Assets	3.00%	3.00%	2.59%
Other Postretirement Benefits Plan [Member] | Interest Cost [Member]
Defined Benefit Plan Disclosure [Line Items]
Defined Benefit Plan, Assumptions Used Calculating Net Periodic Benefit Cost, Discount Rate	2.64%	3.69%	2.62%
Other Postretirement Benefits Plan [Member] | Service Cost [Member]
Defined Benefit Plan Disclosure [Line Items]
Defined Benefit Plan, Assumptions Used Calculating Net Periodic Benefit Cost, Discount Rate	3.00%	4.04%	2.84%