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Recent accounting pronouncements and accounting changes - Additional Information (Details) - USD ($)
$ in Millions
Dec. 31, 2016
Dec. 31, 2015
New Accounting Pronouncements or Change in Accounting Principle [Line Items]    
Decrease in other long-term assets $ (181.5) $ (194.3) [1]
Decrease in other accrued liabilities (349.2) (329.9) [1]
Decrease in other long-term liabilities $ (83.2) (79.2) [1]
Accounting Standards Update 2015-03 | Other long-term assets    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]    
Debt issuance costs, amount reclassified   (1.8)
Accounting Standards Update 2015-03 | Long-term debt    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]    
Debt issuance costs, amount reclassified   1.8
Accounting Standards Update 2015-17    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]    
Reduction of deferred income taxes, current   24.1
Decrease in other current assets   0.1
Increase in deferred income taxes, non current   12.9
Decrease in other long-term assets   0.1
Decrease in other accrued liabilities   9.4
Decrease in other long-term liabilities   $ 2.0
[1] Changed to conform to the current-year presentation. See Note 5.