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Stockholders' equity - Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Beginning Balance	$ (1,299.6)	$ (1,326.5)	$ (1,647.4)
Reclassification pursuant to ASU No. 2018-02		0.0
Amounts reclassified from accumulated other comprehensive income	(140.6)	(157.0)	(169.8)
Total other comprehensive income (loss)	(14.5)	(48.0)	382.9
Ending Balance	(1,228.3)	(1,299.6)	(1,326.5)
Total
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Beginning Balance	(4,084.8)	(3,815.8)	(4,152.8)
Reclassification pursuant to ASU No. 2018-02		(208.7)
Other comprehensive income before reclassifications	136.8	96.7	506.8
Amounts reclassified from accumulated other comprehensive income	(140.6)	(157.0)	(169.8)
Total other comprehensive income (loss)	(3.8)	(269.0)	337.0
Ending Balance	(4,088.6)	(4,084.8)	(3,815.8)
Translation Adjustments
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Beginning Balance	(896.7)	(817.0)	(927.1)
Reclassification pursuant to ASU No. 2018-02		0.0
Other comprehensive income before reclassifications	23.8	(79.7)	121.9
Amounts reclassified from accumulated other comprehensive income	0.0	0.0	(11.8)
Total other comprehensive income (loss)	23.8	(79.7)	110.1
Ending Balance	(872.9)	(896.7)	(817.0)
Postretirement Plans
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Beginning Balance	(3,188.1)	(2,998.8)	(3,225.7)
Reclassification pursuant to ASU No. 2018-02		(208.7)
Other comprehensive income before reclassifications	113.0	176.4	384.9
Amounts reclassified from accumulated other comprehensive income	(140.6)	(157.0)	(158.0)
Total other comprehensive income (loss)	(27.6)	(189.3)	226.9
Ending Balance	$ (3,215.7)	$ (3,188.1)	$ (2,998.8)

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Amount after tax, before reclassification adjustments of other comprehensive income (loss).

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Amount of stockholders' equity (deficit), net of receivables from officers, directors, owners, and affiliates of the entity, attributable to both the parent and noncontrolling interests. Amount excludes temporary equity. Alternate caption for the concept is permanent equity.

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Amount of increase (decrease) in accumulated other comprehensive income (AOCI) for reclassification to retained earnings of tax effect from remeasurement of deferred tax pursuant to Tax Cuts and Jobs Act.

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