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Employee plans - Additional Information About Plan Assets Valued Using Net Asset Value (Details) $ in Millions	12 Months Ended
	Dec. 31, 2019 USD ($) fund	Dec. 31, 2018 USD ($)	Dec. 31, 2017 USD ($)
Pension Plans | U.S. Plans
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	$ 3,334.2	$ 3,112.8	$ 3,578.4
Unfunded Commitments	44.4	0.0
Pension Plans | U.S. Plans | Debt Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Unfunded Commitments	$ 0.0	0.0
Redemption Notice Period Range	45 days
Pension Plans | U.S. Plans | Other, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Unfunded Commitments	$ 0.0	$ 0.0
Redemption Notice Period Range	5 days	5 days
Pension Plans | U.S. Plans | Private Real Estate
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Unfunded Commitments	$ 44.4	$ 0.0
Number of funds for which redemption has been requested | fund	1
Pension Plans | U.S. Plans | Private Equity
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Unfunded Commitments	$ 0.0	0.0
Limited partnerships, period expected to make all distributions	3 years
Pension Plans | International Plans
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	$ 2,816.4	2,539.4	$ 2,833.9
Unfunded Commitments	117.9	0.0
Pension Plans | International Plans | Equity Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Unfunded Commitments	0.0	0.0
Pension Plans | International Plans | Debt Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Unfunded Commitments	117.9	0.0
Pension Plans | International Plans | Other, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Unfunded Commitments	0.0	0.0
Pension Plans | International Plans | Private Real Estate
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Unfunded Commitments	0.0	0.0
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	402.7	289.9
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Equity Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	0.0	0.0
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Debt Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	86.3	0.0
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Other, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	127.0	110.2
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Private Real Estate
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	189.0	179.1
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Private Equity
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	0.4	0.6
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	1,404.1	1,309.6
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Equity Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	406.9	454.9
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Debt Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	941.0	814.0
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Other, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	24.8	23.9
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Private Real Estate
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	31.4	16.8
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Private Equity
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Fair Value	$ 0.0	$ 0.0
Minimum | Pension Plans | U.S. Plans | Private Real Estate
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Redemption Notice Period Range	60 days	60 days
Requested redemption, estimated period for full receipt	3 years
Maximum
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Redemption Notice Period Range	120 days
Maximum | Pension Plans | U.S. Plans | Private Real Estate
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Redemption Notice Period Range	90 days	90 days
Requested redemption, estimated period for full receipt	4 years
Maximum | Pension Plans | International Plans | Equity Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Redemption Notice Period Range	2 days	2 days
Maximum | Pension Plans | International Plans | Debt Securities, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Redemption Notice Period Range	120 days	30 days
Maximum | Pension Plans | International Plans | Other, Commingled Funds
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Redemption Notice Period Range	30 days	30 days
Maximum | Pension Plans | International Plans | Private Real Estate
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]
Redemption Notice Period Range	90 days	90 days

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