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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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Fair value of assets that have been segregated and restricted to provide pension or postretirement benefits. Assets include, but are not limited to, stocks, bonds, other investments, earnings from investments, and contributions by the employer and employees.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 30
-Section 35
-Paragraph 50
-URI http://asc.fasb.org/extlink&oid=64937038&loc=d3e12355-114930

Reference 2: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=65897934&loc=d3e1928-114920

Reference 3: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Glossary Plan Assets
-URI http://asc.fasb.org/extlink&oid=6749337

Reference 4: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Glossary Plan Assets
-URI http://asc.fasb.org/extlink&oid=6520858

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