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Defined contribution and defined benefit retirement plans - Composition of Pension Plan Assets (Details) - Pension plans defined benefit - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 480.6 | $ 462.9 |
Quoted Prices in Active Markets (Level 1) |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 138.6 | 111.7 |
Significant Other Observable Inputs (Level 2) |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 17.4 | 19.5 |
Significant Unobservable Inputs (Level 3) |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 286.0 | 292.1 | $ 264.8
Assets measured at NAV |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 38.6 | 39.6 |
Non U.S. |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 404.9 | $ 422.6 | $ 390.5
Long-term return on plan assets | 4.90% | 4.60% | 2.50%
Germany |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 264.6 | $ 269.4 |
Germany | Significant Unobservable Inputs (Level 3) |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 264.6 | 269.4 |
Canada | Local Currency Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 2.8 |  |
Canada | Non Local Currency Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets |  | 2.7 |
Canada | Local Currency Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 78.1 | 86.2 |
Canada | Cash and Other |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 0.5 | 1.1 |
Canada | Quoted Prices in Active Markets (Level 1) | Local Currency Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 2.8 |  |
Canada | Quoted Prices in Active Markets (Level 1) | Non Local Currency Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets |  | 2.7 |
Canada | Quoted Prices in Active Markets (Level 1) | Local Currency Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 78.1 | 86.2 |
Canada | Quoted Prices in Active Markets (Level 1) | Cash and Other |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 0.5 | 1.1 |
Norway | Local Currency Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 2.0 | 2.4 |
Norway | Non Local Currency Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 6.9 | 7.2 |
Norway | Local Currency Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 21.1 | 23.9 |
Norway | Cash and Other |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 3.6 | 3.0 |
Norway | Non Local Currency Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 4.2 | 4.2 |
Norway | Real Estate. |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 6.2 | 6.6 |
Long-term return on plan assets | 7.00% |  |
Norway | Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Long-term return on plan assets | 5.00% |  |
Norway | Quoted Prices in Active Markets (Level 1) | Local Currency Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 2.0 | 2.4 |
Norway | Quoted Prices in Active Markets (Level 1) | Non Local Currency Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 6.9 | 7.2 |
Norway | Quoted Prices in Active Markets (Level 1) | Local Currency Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 3.7 | 4.4 |
Norway | Quoted Prices in Active Markets (Level 1) | Cash and Other |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 3.4 | 2.8 |
Norway | Quoted Prices in Active Markets (Level 1) | Non Local Currency Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 4.2 | 4.2 |
Norway | Significant Other Observable Inputs (Level 2) | Local Currency Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 17.4 | 19.5 |
Norway | Significant Unobservable Inputs (Level 3) |  |  |
Defined benefit pension plans [Line Items] |  |  |
Percentage of plan asset allocation | 15.00% |  |
Norway | Significant Unobservable Inputs (Level 3) | Cash and Other |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 0.2 | 0.2 |
Norway | Significant Unobservable Inputs (Level 3) | Real Estate. |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 6.2 | 6.6 |
Other. |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 14.9 | 15.9 |
Other. | Significant Unobservable Inputs (Level 3) |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 14.9 | 15.9 |
United States |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 75.7 | $ 40.3 | $ 39.1
Long-term return on plan assets | 5.00% | 5.00% | 4.00%
United States | Cash and Other |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 38.2 | $ 1.9 |
United States | Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 6.7 | 11.3 |
United States | Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 30.8 | 27.1 |
United States | Quoted Prices in Active Markets (Level 1) | Cash and Other |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 37.0 | 0.7 |
United States | Significant Unobservable Inputs (Level 3) | Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 0.1 |  |
United States | Assets measured at NAV | Cash and Other |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 1.2 | 1.2 |
United States | Assets measured at NAV | Equities |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | 6.6 | 11.3 |
United States | Assets measured at NAV | Fixed Income |  |  |
Defined benefit pension plans [Line Items] |  |  |
Plan assets | $ 30.8 | $ 27.1 |

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- Definition Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Publisher FASB -URI https://asc.fasb.org/1943274/2147480506/715-20-50-8 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (k)(3) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480506/715-20-50-1 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Amount of asset segregated and restricted to provide benefit under defined benefit plan. Asset includes, but is not limited to, stock, bond, other investment, earning from investment, and contribution by employer and employee. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 17 -Publisher FASB -URI https://asc.fasb.org/1943274/2147480482/715-20-55-17 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(02) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480506/715-20-50-1 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(ii) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480506/715-20-50-1 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(01) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480506/715-20-50-1 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480506/715-20-50-1 Reference 6: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(ii) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480506/715-20-50-1 Reference 7: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(01) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480506/715-20-50-1 + Details
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