Summary of significant accounting policies - Estimated Useful Lives of Assets (Details)	Dec. 31, 2023
Minimum | Land and leasehold improvements
Property, Plant and Equipment [Line Items]
Estimated useful lives of the assets	10 years
Minimum | Machinery and equipment
Property, Plant and Equipment [Line Items]
Estimated useful lives of the assets	2 years
Maximum | Building and building equipment
Property, Plant and Equipment [Line Items]
Estimated useful lives of the assets	30 years
Maximum | Land and leasehold improvements
Property, Plant and Equipment [Line Items]
Estimated useful lives of the assets	20 years
Maximum | Machinery and equipment
Property, Plant and Equipment [Line Items]
Estimated useful lives of the assets	13 years