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Cost reduction actions - Individual Components of Work Force Reduction and Idle Lease Cost (Details) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2016
Sep. 30, 2016
Jun. 30, 2016
Mar. 31, 2016
Dec. 31, 2015
Sep. 30, 2015
Jun. 30, 2015
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Restructuring Reserve [Roll Forward]                    
Charges for work-force reductions / Additional provisions $ 13.1 $ 31.9 $ 10.2 $ 26.9 $ 48.5 $ 17.4 $ 52.6   $ 82.1 $ 118.5
Work-force reduction costs                    
Restructuring Reserve [Roll Forward]                    
Balance at beginning of period       33.0       $ 35.2 33.0  
Charges for work-force reductions / Additional provisions                 66.9 78.8
Payments                 (59.3) (45.3)
Changes in estimates                 (4.3)  
Translation adjustments                 (1.1) (0.5)
Balance at end of period 35.2       33.0       35.2 33.0
Work-force reduction costs | Scenario, Forecast                    
Restructuring Reserve [Roll Forward]                    
Payments               (21.2)    
Expected future payments on balance at December 31, 2016               14.0    
Work-force reduction costs | United States                    
Restructuring Reserve [Roll Forward]                    
Balance at beginning of period       4.2       1.8 4.2  
Charges for work-force reductions / Additional provisions                 8.3 27.9
Payments                 (9.4) (23.7)
Changes in estimates                 (1.3)  
Balance at end of period 1.8       4.2       1.8 4.2
Work-force reduction costs | United States | Scenario, Forecast                    
Restructuring Reserve [Roll Forward]                    
Payments               (1.8)    
Expected future payments on balance at December 31, 2016               0.0    
Work-force reduction costs | International                    
Restructuring Reserve [Roll Forward]                    
Balance at beginning of period       $ 28.8       33.4 28.8  
Charges for work-force reductions / Additional provisions                 58.6 50.9
Payments                 (49.9) (21.6)
Changes in estimates                 (3.0)  
Translation adjustments                 (1.1) (0.5)
Balance at end of period $ 33.4       $ 28.8       $ 33.4 $ 28.8
Work-force reduction costs | International | Scenario, Forecast                    
Restructuring Reserve [Roll Forward]                    
Payments               (19.4)    
Expected future payments on balance at December 31, 2016               $ 14.0