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Benefit Plans and Other Postretirement Benefits, Benefit obligation and plan assets (Details) - USD ($)
$ in Millions
 1 Months Ended 12 Months Ended
Jan. 31, 2018
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Amounts recognized in the balance sheet as of December 31:        
Accrued pension and postretirement benefit obligations   $ 190.2 $ 272.0  
Accumulated other comprehensive loss, net   $ (390.2) $ (201.0)  
United States        
Weighted average assumptions used to determine projected benefit obligations:        
Rate of compensation increase (as a percent)   3.00% 3.00%  
Foreign.        
Weighted average assumptions used to determine projected benefit obligations:        
Rate of compensation increase (as a percent)   1.77% 1.70%  
Pension Benefits        
Change in projected benefit obligation:        
Projected benefit obligation at beginning of year $ 741.7 $ 741.7 $ 703.3  
Service cost   7.3 9.6 $ 9.0
Interest cost   19.6 20.0 20.9
Plan amendments   1.0    
Actuarial (gain) loss   (36.2) 18.9  
Foreign exchange translation   (13.0) 26.7  
Benefits paid   (36.2) (36.8)  
Projected benefit obligation at end of year   684.2 741.7 703.3
Change in plan assets:        
Fair value of plan assets at the beginning of the year 497.9 497.9 439.9  
Actual return on plan assets   (29.7) 62.4  
Employer contributions   88.3 22.5 22.2
Foreign exchange translation   (6.2) 9.9  
Benefits paid   (36.2) (36.8)  
Fair value of plan assets at end of year   514.1 497.9 439.9
Underfunded status at end of year   170.1 243.8  
Amounts recognized in the balance sheet as of December 31:        
Other accrued expenses   3.9 3.1  
Accrued pension and postretirement benefit obligations   166.2 240.7  
Accumulated other comprehensive loss, net   (192.9) (164.4)  
Accumulated benefit obligation        
Accumulated benefit obligation   674.5 731.2  
Pension Benefits | United States        
Change in projected benefit obligation:        
Projected benefit obligation at beginning of year 486.7 486.7 469.8  
Service cost   4.5 6.7 6.2
Interest cost   14.9 15.3 15.4
Plan amendments   0.2    
Actuarial (gain) loss   (33.1) 21.1  
Benefits paid   (24.3) (26.2)  
Projected benefit obligation at end of year   448.9 486.7 469.8
Change in plan assets:        
Fair value of plan assets at the beginning of the year 389.6 389.6 342.1  
Actual return on plan assets   (28.8) 57.2  
Employer contributions 81.0 81.7 16.5  
Benefits paid   (24.3) (26.2)  
Fair value of plan assets at end of year   418.2 389.6 342.1
Underfunded status at end of year   30.7 97.1  
Amounts recognized in the balance sheet as of December 31:        
Other accrued expenses   1.0    
Accrued pension and postretirement benefit obligations   29.7 97.1  
Accumulated other comprehensive loss, net   $ (140.2) $ (110.5)  
Weighted average assumptions used to determine projected benefit obligations:        
Benefit obligation discount rate (as a percent)   4.14% 3.48%  
Accumulated benefit obligation        
Accumulated benefit obligation   $ 446.4 $ 484.4  
Pension Benefits | Foreign.        
Change in projected benefit obligation:        
Projected benefit obligation at beginning of year 255.0 255.0 233.5  
Service cost   2.8 2.9 2.8
Interest cost   4.7 4.7 5.5
Plan amendments   0.8    
Actuarial (gain) loss   (3.1) (2.2)  
Foreign exchange translation   (13.0) 26.7  
Benefits paid   (11.9) (10.6)  
Projected benefit obligation at end of year   235.3 255.0 233.5
Change in plan assets:        
Fair value of plan assets at the beginning of the year 108.3 108.3 97.8  
Actual return on plan assets   (0.9) 5.2  
Employer contributions   6.6 6.0  
Foreign exchange translation   (6.2) 9.9  
Benefits paid   (11.9) (10.6)  
Fair value of plan assets at end of year   95.9 108.3 $ 97.8
Underfunded status at end of year   139.4 146.7  
Amounts recognized in the balance sheet as of December 31:        
Other accrued expenses   2.9 3.1  
Accrued pension and postretirement benefit obligations   136.5 143.6  
Accumulated other comprehensive loss, net   $ (52.7) $ (53.9)  
Weighted average assumptions used to determine projected benefit obligations:        
Benefit obligation discount rate (as a percent)   2.28% 2.21%  
Accumulated benefit obligation        
Accumulated benefit obligation   $ 228.1 $ 246.8  
Largest foreign pension plan | Pension Benefits | Unfunded Plan | Foreign.        
Change in projected benefit obligation:        
Projected benefit obligation at beginning of year $ 93.0 93.0    
Projected benefit obligation at end of year   $ 92.7 $ 93.0