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Shareholders' equity - Schedule of Stock by Class (Details)
€ / shares in Units, € in Millions
Dec. 31, 2022
EUR (€)
€ / shares
shares
Dec. 31, 2021
€ / shares
shares
Dec. 31, 2020
shares
Class of Stock [Line Items]      
Common stock, authorized amount | € € 126.0    
Common stock, shares, outstanding (in shares) 394,589,411 402,601,613 416,514,034
Treasury stock, par or stated value per share (in EUR per share) | € / shares € 0.09    
Number of treasury shares (in shares) 8,548,631 3,873,663 2,983,454
Common and treasury stock, par or stated value per share (in EUR per share) | € / shares € 0.09    
Number of issued shares (in shares)     419,497,488
Cumulative Preferred Stock      
Class of Stock [Line Items]      
Cumulative preference shares; authorized (number of shares) 700,000,000    
Cumulative preference shares; nominal value (in EUR per share) | € / shares € 0.09    
Preferred stock, votes per share (in votes per share) 1    
Number of issued shares (in shares) 0    
Common Stock      
Class of Stock [Line Items]      
Ordinary Shares, authorized (in shares) 700,000,000 699,999,000  
Ordinary shares, nominal value (in EUR per share) | € / shares € 0.09 € 0.09  
Common stock, votes per share (in votes per share) 1    
Common stock, shares, outstanding (in shares) 394,589,411 402,601,613  
Number of issued shares (in shares) 403,138,042 406,475,276