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Operating leases - Cost Components of Operating Leases (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Lessee, Lease, Description [Line Items]      
Operating lease cost $ 111.5 $ 113.4 $ 117.6
Variable lease cost 11.2 11.7 8.7
Short-term lease cost 26.6 19.2 23.6
Total 149.3 144.3 149.9
Leased Facilities and Equipment      
Lessee, Lease, Description [Line Items]      
Operating lease cost 96.8 99.7 102.5
Variable lease cost 9.7 10.4 7.2
Short-term lease cost 0.0 0.0 0.0
Total 106.5 110.1 109.7
Leased Vehicles      
Lessee, Lease, Description [Line Items]      
Operating lease cost 14.7 13.7 15.1
Variable lease cost 1.5 1.3 1.5
Short-term lease cost 26.6 19.2 23.6
Total $ 42.8 $ 34.2 $ 40.2