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Accumulated other comprehensive income (loss) - Reclasses Out Of AOCI (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Other Comprehensive Income (Loss), Net of Tax [Abstract]                
Beginning balance $ 664.2 $ 605.0 $ 570.2 $ 366.7 $ 369.8 $ 252.6 $ 570.2 $ 252.6
Other comprehensive income (loss) (30.7) 30.3 36.0 (33.1) (39.6) 49.4 35.6 (23.3)
Ending balance 584.3 664.2 605.0 319.2 366.7 369.8 584.3 319.2
Benefit Plan Adjustments                
Other Comprehensive Income (Loss), Net of Tax [Abstract]                
Beginning balance     (290.7)       (290.7)  
Other comprehensive income (loss) before reclassifications             (2.3)  
Amounts reclassified from accumulated other comprehensive loss to net income             1.4  
Other comprehensive income (loss) 1.3     6.8     (0.9) 22.9
Ending balance (291.6)           (291.6)  
Foreign Currency Translation Adjustments                
Other Comprehensive Income (Loss), Net of Tax [Abstract]                
Beginning balance     (433.8)       (433.8)  
Other comprehensive income (loss) before reclassifications             25.8  
Amounts reclassified from accumulated other comprehensive loss to net income             (3.1)  
Other comprehensive income (loss) (41.9)     (45.2)     22.7 (64.1)
Ending balance (411.1)           (411.1)  
Unrealized gains (losses) on available-for-sale securities                
Other Comprehensive Income (Loss), Net of Tax [Abstract]                
Beginning balance     (0.6)       (0.6)  
Other comprehensive income (loss) before reclassifications             (0.2)  
Amounts reclassified from accumulated other comprehensive loss to net income             5.6  
Other comprehensive income (loss) 5.1     (0.2)     5.4 (1.0)
Ending balance 4.8           4.8  
Gains (Losses) on Cash Flow Hedges                
Other Comprehensive Income (Loss), Net of Tax [Abstract]                
Beginning balance     24.6       24.6  
Other comprehensive income (loss) before reclassifications             18.1  
Amounts reclassified from accumulated other comprehensive loss to net income             (5.4)  
Other comprehensive income (loss) 6.3     9.5     12.7 29.4
Ending balance 37.3           37.3  
AOCI Attributable to Parent                
Other Comprehensive Income (Loss), Net of Tax [Abstract]                
Beginning balance (631.4) (664.7) (700.5) (891.6) (857.0) (907.9) (700.5) (907.9)
Other comprehensive income (loss) before reclassifications             41.4  
Amounts reclassified from accumulated other comprehensive loss to net income             (1.5)  
Other comprehensive income (loss) (29.2) 33.3 35.8 (29.1) (34.6) 50.9 39.9 (12.8)
Ending balance $ (660.6) $ (631.4) $ (664.7) $ (920.6) $ (891.6) $ (857.0) $ (660.6) $ (920.6)