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Stockholders' equity - Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Beginning Balance	$ (1,228.3)	$ (1,299.6)	$ (1,326.5)
Reclassification pursuant to ASU No. 2018-02			0.0
Amounts reclassified from accumulated other comprehensive income	(340.3)	(140.6)	(157.0)
Ending Balance	(312.1)	(1,228.3)	(1,299.6)
Total
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Beginning Balance	(4,088.6)	(4,084.8)	(3,815.8)
Reclassification pursuant to ASU No. 2018-02			(208.7)
Other comprehensive income before reclassifications	489.4	136.8	96.7
Amounts reclassified from accumulated other comprehensive income	(340.3)	(140.6)	(157.0)
Current period other comprehensive income	149.1	(3.8)	(269.0)
Ending Balance	(3,939.5)	(4,088.6)	(4,084.8)
Translation Adjustments
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Beginning Balance	(872.9)	(896.7)	(817.0)
Reclassification pursuant to ASU No. 2018-02			0.0
Other comprehensive income before reclassifications	78.6	23.8	(79.7)
Amounts reclassified from accumulated other comprehensive income	(32.3)	0.0	0.0
Current period other comprehensive income	46.3	23.8	(79.7)
Ending Balance	(826.6)	(872.9)	(896.7)
Postretirement Plans
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Beginning Balance	(3,215.7)	(3,188.1)	(2,998.8)
Reclassification pursuant to ASU No. 2018-02			(208.7)
Other comprehensive income before reclassifications	410.8	113.0	176.4
Amounts reclassified from accumulated other comprehensive income	(308.0)	(140.6)	(157.0)
Current period other comprehensive income	102.8	(27.6)	(189.3)
Ending Balance	$ (3,112.9)	$ (3,215.7)	$ (3,188.1)

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

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