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Employee plans - Schedule of Plan Assets at Fair Value (Details) - USD ($) $ in Millions | Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
--- | --- | --- | ---
U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | $ 3,452.1 | $ 3,759.4 | $ 4,069.7
Total plan assets in fair value hierarchy | 3,287.3 | 3,608.9 |
Plan assets measured using NAV as a practical expedient | 164.8 | 150.5 |
U.S. Plans | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 1,443.1 | 1,686.4 |
U.S. Plans | Equity Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 517.9 | 411.9 |
Plan assets measured using NAV as a practical expedient | 0.0 | 0.0 |
U.S. Plans | U.S. Govt. Securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 158.5 | 162.2 |
U.S. Plans | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 812.4 | 974.7 |
U.S. Plans | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Plan assets measured using NAV as a practical expedient | 18.6 | 0.0 |
U.S. Plans | Real Estate Investment Trusts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 156.2 | 170.7 |
U.S. Plans | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 3.1 | 0.8 |
U.S. Plans | Other, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Plan assets measured using NAV as a practical expedient | 104.6 | 105.3 |
U.S. Plans | Pooled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 272.0 | 263.1 |
U.S. Plans | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 12.2 | 1.9 |
U.S. Plans | Receivables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 107.2 | 77.1 |
U.S. Plans | Payables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | (195.3) | (139.9) |
U.S. Plans | Private Real Estate |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Plan assets measured using NAV as a practical expedient | 40.5 | 37.6 |
U.S. Plans | Private Equity |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Plan assets measured using NAV as a practical expedient | 1.1 | 7.6 |
International Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 2,429.7 | 2,496.8 | 2,718.9
Total plan assets in fair value hierarchy | 995.5 | 865.5 |
Plan assets measured using NAV as a practical expedient | 1,434.2 | 1,631.3 |
International Plans | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 0.0 | 0.6 |
International Plans | Equity Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 76.0 | 75.3 |
Plan assets measured using NAV as a practical expedient | 726.7 | 880.8 |
International Plans | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 241.4 | 248.5 |
International Plans | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 116.2 | 120.6 |
International Plans | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 242.8 | 272.8 |
Plan assets measured using NAV as a practical expedient | 640.0 | 632.6 |
International Plans | Real Estate Investment Trusts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 1.6 | 0.7 |
International Plans | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 4.9 | 7.0 |
International Plans | Other, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 294.5 | 112.6 |
Plan assets measured using NAV as a practical expedient | 25.8 | 76.1 |
International Plans | Pooled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 6.7 |  |
International Plans | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 11.4 | 27.4 |
International Plans | Private Real Estate |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Plan assets measured using NAV as a practical expedient | 41.7 | 41.8 |
International Plans | Private Equity |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Plan assets measured using NAV as a practical expedient | 0.0 | 0.0 |
Other Postretirement Benefit Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 7.9 | 7.7 | 9.1
Other Postretirement Benefit Plans | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 7.9 | 7.7 |
Level 1 | U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 1,676.0 | 1,952.9 |
Level 1 | U.S. Plans | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 1,438.3 | 1,680.6 |
Level 1 | U.S. Plans | U.S. Govt. Securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 158.5 | 162.2 |
Level 1 | U.S. Plans | Real Estate Investment Trusts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 156.2 | 170.7 |
Level 1 | U.S. Plans | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | (1.1) | 0.3 |
Level 1 | U.S. Plans | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 12.2 | 1.9 |
Level 1 | U.S. Plans | Receivables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 107.2 | 77.1 |
Level 1 | U.S. Plans | Payables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | (195.3) | (139.9) |
Level 1 | International Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 13.1 | 28.7 |
Level 1 | International Plans | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 0.0 | 0.6 |
Level 1 | International Plans | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 0.5 |  |
Level 1 | International Plans | Real Estate Investment Trusts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 1.2 | 0.7 |
Level 1 | International Plans | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 11.4 | 27.4 |
Level 2 | U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 1,611.3 | 1,656.0 |
Level 2 | U.S. Plans | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 4.8 | 5.8 |
Level 2 | U.S. Plans | Equity Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 517.9 | 411.9 |
Level 2 | U.S. Plans | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 812.4 | 974.7 |
Level 2 | U.S. Plans | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 4.2 | 0.5 |
Level 2 | U.S. Plans | Pooled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 272.0 | 263.1 |
Level 2 | International Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 866.2 | 716.2 |
Level 2 | International Plans | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 0.0 | 0.0 |
Level 2 | International Plans | Equity Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 76.0 | 75.3 |
Level 2 | International Plans | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 240.9 | 248.5 |
Level 2 | International Plans | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 242.8 | 272.8 |
Level 2 | International Plans | Real Estate Investment Trusts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 0.4 |  |
Level 2 | International Plans | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 4.9 | 7.0 |
Level 2 | International Plans | Other, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 294.5 | 112.6 |
Level 2 | International Plans | Pooled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 6.7 |  |
Level 3 | U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 0.0 | 0.0 |
Level 3 | U.S. Plans | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 0.0 | 0.0 |
Level 3 | U.S. Plans | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total |  | 0.0 | 17.4
Level 3 | International Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 116.2 | 120.6 |
Level 3 | International Plans | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 0.0 | 0.0 |
Level 3 | International Plans | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | 116.2 | 120.6 | 135.5
Level 3 | Other Postretirement Benefit Plans | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets total | $ 7.9 | $ 7.7 | $ 7.3

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