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Operating leases - Cost Components of Operating Leases (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Lessee, Lease, Description [Line Items]
Operating lease cost	$ 113.4	$ 117.6	$ 118.1
Variable lease cost	11.7	8.7	11.9
Short-term lease cost	19.2	23.6	27.4
Total	144.3	149.9	157.4
Leased Facilities and Equipment
Lessee, Lease, Description [Line Items]
Operating lease cost	99.7	102.5	104.0
Variable lease cost	10.4	7.2	10.0
Short-term lease cost	0.0	0.0	0.0
Total	110.1	109.7	114.0
Leased Vehicles
Lessee, Lease, Description [Line Items]
Operating lease cost	13.7	15.1	14.1
Variable lease cost	1.3	1.5	1.9
Short-term lease cost	19.2	23.6	27.4
Total	$ 34.2	$ 40.2	$ 43.4

X

- Definition

Amount of lease cost recognized by lessee for lease contract.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 4
-URI http://asc.fasb.org/extlink&oid=123408670&loc=SL77918686-209980

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
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-Section 55
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-URI http://asc.fasb.org/extlink&oid=123414884&loc=SL77918982-209971

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X

- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

No definition available.

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X

- Definition

Amount of single lease cost, calculated by allocation of remaining cost of lease over remaining lease term. Includes, but is not limited to, single lease cost, after impairment of right-of-use asset, calculated by amortization of remaining right-of-use asset and accretion of lease liability.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 55
-Paragraph 53
-URI http://asc.fasb.org/extlink&oid=123414884&loc=SL77918982-209971

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- Definition

Amount of short-term lease cost, excluding expense for lease with term of one month or less.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
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X

- Definition

Amount of variable lease cost, excluded from lease liability, recognized when obligation for payment is incurred for finance and operating leases.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
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