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Retirement benefits - Assets Held In Retirement Benefit Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 2,320,745 $ 2,089,491 $ 1,799,200
Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 239,311 219,873 $ 200,831
Fair value measurements on a recurring basis | Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 2,321,000 2,089,000  
Fair value measurements on a recurring basis | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 2,318,000 2,085,000  
Fair value measurements on a recurring basis | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 1,546,000 $ 1,376,000  
Fair value measurements on a recurring basis | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Redemption frequency, daily 61.00% 62.00%  
Redemption frequency, monthly 39.00% 38.00%  
Fair value measurements on a recurring basis | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 700,000 $ 641,000  
Fair value measurements on a recurring basis | Pension benefits | Cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 3,000 4,000  
Fair value measurements on a recurring basis | Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 239,000 220,000  
Fair value measurements on a recurring basis | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 239,000 220,000  
Fair value measurements on a recurring basis | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 173,000 $ 158,000  
Fair value measurements on a recurring basis | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Redemption frequency, daily 57.00% 58.00%  
Redemption frequency, monthly 43.00% 42.00%  
Fair value measurements on a recurring basis | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 63,000 $ 58,000  
Fair value measurements on a recurring basis | Other benefits | Cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 432,000 368,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 188,000 172,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 830,000 734,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 393,000 363,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 53,000 46,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 24,000 22,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 84,000 77,000  
Fair value measurements on a recurring basis | Fair Value, Inputs, Level 1, 2 and 3 | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 58,000 53,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,610,000 1,404,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,449,000 1,274,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 431,000 368,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 188,000 172,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 830,000 734,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 146,000 105,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 0    
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Pension benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 15,000 25,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 220,000 199,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 161,000 145,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 53,000 46,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 24,000 22,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 84,000 77,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 56,000 51,000  
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 0    
Fair value measurements on a recurring basis | Quoted prices in active markets for identical assets (Level 1) | Other benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 3,000 3,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 248,000 258,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,000 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 1,000 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 247,000 258,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Pension benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 0    
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | Total, excluding cash, receivables and payables, net      
Fair value measurements on a recurring basis      
Fair value of plan assets 2,000 2,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | Equity investments      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | U.S. equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | U.S. equity index and exchange-traded funds      
Fair value measurements on a recurring basis      
Fair value of plan assets 0 0  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets 2,000 2,000  
Fair value measurements on a recurring basis | Significant other observable inputs (Level 2) | Other benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 0    
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets 460,000 423,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 96,000 $ 102,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S equity securities | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period 5 days 5 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S equity securities | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period 30 days 30 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Non-U.S. equity investments at net asset value (NAV)      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 96,000 $ 102,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 307,000 $ 278,000  
Redemption notice period 15 days 15 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 22,000    
Unfunded commitments $ 66,000    
Dissolution written notice period 6 months    
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 50,000 $ 68,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Cash equivalents      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 35,000 $ 43,000  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Cash equivalents | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period 0 days 0 days  
Fair value measurements on a recurring basis | Net Asset Value | Pension benefits | Cash equivalents | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period 1 day 1 day  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 17,000 $ 19,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S equity securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 12,000 $ 13,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S equity securities | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period 5 days 5 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S equity securities | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period 30 days 30 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Non-U.S. equity investments at net asset value (NAV)      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 12,000 $ 13,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Fixed income securities      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 5,000 $ 5,000  
Redemption notice period 15 days 15 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Private equity at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 0    
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Cash equivalents, fund and at NAV      
Fair value measurements on a recurring basis      
Fair value of plan assets 3,000 $ 4,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Cash equivalents      
Fair value measurements on a recurring basis      
Fair value of plan assets $ 0 $ 1,000  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Cash equivalents | Minimum      
Fair value measurements on a recurring basis      
Redemption notice period 0 days 0 days  
Fair value measurements on a recurring basis | Net Asset Value | Other benefits | Cash equivalents | Maximum      
Fair value measurements on a recurring basis      
Redemption notice period 1 day 1 day