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Defined contribution and defined benefit retirement plans - Rollforward of Change in Fair Value of Level 3 Assets (Details) - Level 3 - Defined benefit pension plans - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Fair Value Assets Measured On Recurring Basis Unobservable Input Reconciliation [Line Items] |  |
Fair value at beginning of year | $ 259.0 | $ 310.3
Gain (loss) on assets held at end of year | 11.1 | (31.0)
Gain (loss) on assets sold during the year | 14.4 | (0.7)
Assets purchased | 1.7 | 13.8
Assets sold | (3.5) | (14.9)
Currency exchange rate fluctuations | 9.4 | (18.5)
Fair value at end of year | $ 292.1 | $ 259.0

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