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Operating leases - Cost Components of Operating Leases (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Lessee, Lease, Description [Line Items]      
Operating lease cost $ 117.6 $ 111.5 $ 113.4
Variable lease cost 12.1 11.2 11.7
Short-term lease cost 23.7 26.6 19.2
Total 153.4 149.3 144.3
Leased Facilities and Equipment      
Lessee, Lease, Description [Line Items]      
Operating lease cost 99.4 96.8 99.7
Variable lease cost 10.5 9.7 10.4
Short-term lease cost 0.0 0.0 0.0
Total 109.9 106.5 110.1
Leased Vehicles      
Lessee, Lease, Description [Line Items]      
Operating lease cost 18.2 14.7 13.7
Variable lease cost 1.6 1.5 1.3
Short-term lease cost 23.7 26.6 19.2
Total $ 43.5 $ 42.8 $ 34.2