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Income taxes (Reconciliation of Federal Statutory Tax Rate) (Details)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Tax Disclosure [Abstract]      
Federal statutory tax rate 21.00% 21.00% 21.00%
Foreign earnings (7.80%) (4.70%) (4.50%)
Foreign-derived intangible income (1.00%) (0.70%) (0.70%)
Credits, Puerto Rico excise tax (3.40%) (2.90%) (2.60%)
Interest on uncertain tax positions 1.10% 1.10% 1.60%
Credits, primarily federal R&D (2.10%) (1.40%) (1.00%)
Acquisition IPR&D 4.90% 0.00% 0.00%
Audit settlements 0.00% (1.00%) 0.00%
Other, net (0.60%) (0.70%) 0.40%
Effective tax rate 12.10% 10.70% 14.20%