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Fair value of financial instruments Fair value of financial instruments (Details) $ in Millions | 3 Months Ended | 6 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Jun. 30, 2020 USD ($) | Jun. 30, 2019 USD ($) | Jun. 30, 2020 USD ($) | Jun. 30, 2019 USD ($) | Dec. 31, 2019 USD ($) | Mar. 31, 2019 derivative_instrument | Mar. 31, 2016 derivative_instrument
Debt Instrument [Line Items] |  |  |  |  |  |  |
Other operating income (expense) | $ 3.5 | $ (1.7) | $ 8.6 | $ 0.5 |  |  |
Foreign currency transaction gains (losses) |  |  | (3.5) | (3.4) |  |  |
Interest expense | (23.2) | (22.7) | (43.2) | (45.7) |  |  |
Not Designated as Hedging Instrument | Foreign Exchange Contract |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Notional value | 142.0 |  | $ 142.0 |  |  |  |
Weighted average maturity |  |  | 1 month |  |  |  |
Not Designated as Hedging Instrument | Foreign Exchange Contract | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of foreign currency contract, net | 3.9 |  | $ 3.9 |  | $ 0.6 |  |
Designated as Hedging Instrument | Currency Swap |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Notional value | 110.0 |  | $ 110.0 |  |  |  |
Weighted average maturity |  |  | 2 years 1 month 6 days |  |  |  |
Foreign currency derivative instrument gains (losses) | 3.4 | (3.7) | $ 28.8 | (1.3) |  |  |
Other operating income (expense) | (3.7) | 2.4 | (29.8) | (1.4) |  |  |
Foreign currency transaction gains (losses) | (3.7) | 2.4 | (29.8) | (1.4) |  |  |
Interest expense | (0.3) | (1.3) | (1.0) | (2.7) |  |  |
Designated as Hedging Instrument | Currency Swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of contract, asset position | 29.2 |  | 29.2 |  | 2.1 |  |
Designated as Hedging Instrument | Interest Rate Swap |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Notional value | 40.0 |  | $ 40.0 |  |  |  |
Weighted average maturity |  |  | 4 months 24 days |  |  |  |
Number of interest rate swaps | derivative_instrument |  |  |  |  |  |  | 2
Designated as Hedging Instrument | $400 million interest rate swap |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Notional value | 400.0 |  | $ 400.0 |  |  |  |
Weighted average maturity |  |  | 1 year 9 months 18 days |  |  |  |
Number of interest rate swaps | derivative_instrument |  |  |  |  |  | 10 |
Designated as Hedging Instrument | $400 million interest rate swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Interest expense | (2.1) |  | $ (2.9) |  |  |  |
Fair value of swap, net | 34.2 |  | 34.2 |  | 15.0 |  |
Prepaid expenses and other | Not Designated as Hedging Instrument | Foreign Exchange Contract | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of foreign currency contract, net |  |  |  |  | 0.8 |  |
Prepaid expenses and other | Designated as Hedging Instrument | Currency Swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of contract, asset position | 3.9 |  | 3.9 |  |  |  |
Prepaid expenses and other | Designated as Hedging Instrument | Interest Rate Swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of swap, net |  |  |  |  | 0.2 |  |
Accrued liabilities | Not Designated as Hedging Instrument | Foreign Exchange Contract | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of foreign currency contract, net |  |  |  |  | 0.2 |  |
Accrued liabilities | Designated as Hedging Instrument | Currency Swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of contract, liability position |  |  |  |  | 2.8 |  |
Accrued liabilities | Designated as Hedging Instrument | Interest Rate Swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of swap, net | 0.3 |  | 0.3 |  |  |  |
Accrued liabilities | Designated as Hedging Instrument | $400 million interest rate swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of swap, liability position | 9.6 |  | 9.6 |  | 3.6 |  |
Other assets | Designated as Hedging Instrument | Currency Swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of contract, asset position | 25.3 |  | 25.3 |  | 4.9 |  |
Other liabilities | Designated as Hedging Instrument | $400 million interest rate swap | Level 2 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value of swap, liability position | 24.6 |  | 24.6 |  | 11.4 |  |
Six hundred million senior unsecured notes |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Carrying value | 600.0 |  | 600.0 |  | 600.0 |  |
Six hundred million senior unsecured notes | Level 3 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value | 581.7 |  | 581.7 |  | 624.7 |  |
Four hundred million senior unsecured notes |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Carrying value | 400.0 |  | 400.0 |  | 0.0 |  |
Four hundred million senior unsecured notes | Level 3 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fair value | 394.9 |  | 394.9 |  | $ 0.0 |  |
Other operating income (expense) | Not Designated as Hedging Instrument | Foreign Exchange Contract |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Foreign currency derivative instrument not designated as hedging gains (losses) | 2.6 | $ (1.4) | 3.9 | $ 2.5 |  |  |
Interest and other nonoperating expense | Not Designated as Hedging Instrument | Foreign Exchange Contract |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Foreign currency derivative instrument not designated as hedging gains (losses) | $ (0.4) |  | $ (8.1) |  |  |  |

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