Stockholders' equity - Additional Information (Details) - $ / shares	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023
Equity [Abstract]
Cash dividends declared per common share (in dollars per share)	$ 1.30	$ 1.24
Cash dividends paid per common share (in dollars per share)	$ 1.30	$ 1.24

Aggregate dividends declared during the period for each share of common stock outstanding.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 505
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.3-04)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480008/505-10-S99-1

Name:	us-gaap_CommonStockDividendsPerShareDeclared
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:perShareItemType
Balance Type:	na
Period Type:	duration