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Cost reduction actions - Reconciliation of Liabilities and Expected Future Payments (Details) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended 36 Months Ended
Dec. 31, 2017
Sep. 30, 2017
Jun. 30, 2017
Mar. 31, 2017
Dec. 31, 2016
Sep. 30, 2016
Jun. 30, 2016
Mar. 31, 2016
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2017
Restructuring Reserve [Roll Forward]                          
Charges for work-force reductions / Additional provisions $ 47.8 $ 46.1 $ 27.5 $ 25.4 $ 13.1 $ 31.9 $ 10.2 $ 26.9   $ 146.8 $ 82.1 $ 118.5 $ 347.4
Work-Force Reductions | United States                          
Restructuring Reserve [Roll Forward]                          
Balance at beginning of period       1.8       4.2 $ 3.9 1.8 4.2    
Charges for work-force reductions / Additional provisions                   9.4 8.3 27.9  
Payments                   (6.0) (9.4) (23.7)  
Changes in estimates                   (1.3) (1.3)    
Translation adjustments                   0.0 0.0    
Balance at end of period 3.9       1.8         3.9 1.8 4.2 3.9
In 2018                   6.0 9.4 23.7  
Work-Force Reductions | United States | Scenario, Forecast                          
Restructuring Reserve [Roll Forward]                          
Payments                 (3.9)        
In 2018                 3.9        
Expected future payments on balance at December 31, 2017                 0.0        
Work-Force Reductions | International                          
Restructuring Reserve [Roll Forward]                          
Balance at beginning of period       33.4       28.8 109.6 33.4 28.8    
Charges for work-force reductions / Additional provisions                   117.6 58.6 50.9  
Payments                   (41.3) (49.9) (21.6)  
Changes in estimates                   (7.8) (3.0)    
Translation adjustments                   7.7 (1.1) (0.5)  
Balance at end of period 109.6       33.4         109.6 33.4 28.8 109.6
In 2018                   41.3 49.9 21.6  
Work-Force Reductions | International | Scenario, Forecast                          
Restructuring Reserve [Roll Forward]                          
Payments                 (82.0)        
In 2018                 82.0        
Expected future payments on balance at December 31, 2017                 27.6        
Idle Leased Facilities Costs                          
Restructuring Reserve [Roll Forward]                          
Balance at beginning of period       1.4       0.0 4.3 1.4 0.0    
Charges for work-force reductions / Additional provisions                   4.2 1.4 0.0  
Payments                   (2.0) 0.0 0.0  
Changes in estimates                   0.5 0.0    
Translation adjustments                   0.2 0.0 0.0  
Balance at end of period 4.3       1.4         4.3 1.4 0.0 4.3
In 2018                   2.0 0.0 0.0  
Idle Leased Facilities Costs | Scenario, Forecast                          
Restructuring Reserve [Roll Forward]                          
Payments                 (1.8)        
In 2018                 1.8        
Expected future payments on balance at December 31, 2017                 2.5        
Total                          
Restructuring Reserve [Roll Forward]                          
Balance at beginning of period       $ 36.6       $ 33.0 117.8 36.6 33.0    
Charges for work-force reductions / Additional provisions                   131.2 68.3 78.8  
Payments                   (49.3) (59.3) (45.3)  
Changes in estimates                   (8.6) (4.3)    
Translation adjustments                   7.9 (1.1) (0.5)  
Balance at end of period $ 117.8       $ 36.6         117.8 36.6 33.0 $ 117.8
In 2018                   $ 49.3 $ 59.3 $ 45.3  
Total | Scenario, Forecast                          
Restructuring Reserve [Roll Forward]                          
Payments                 (87.7)        
In 2018                 87.7        
Expected future payments on balance at December 31, 2017                 $ 30.1