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Stockholders' equity - Amounts Reclassified Out of Accumulated Other Comprehensive Income (Loss) (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other (expense), net $ (329.6) $ (136.4) $ (77.1)
Total reclassifications for the period (340.3) (140.6) (157.0)
Translation Adjustments      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Total reclassifications for the period (32.3) 0.0 0.0
Postretirement Plans      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Amortization of postretirement plan items, before tax (345.8) (144.9) (162.7)
Income tax benefit 5.5 4.3 5.7
Total reclassifications for the period (308.0) (140.6) (157.0)
Amortization of prior service cost      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Amortization of postretirement plan items, before tax 5.9 5.9 7.1
Amortization of actuarial losses      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Amortization of postretirement plan items, before tax (177.3) (149.7) (165.9)
Settlement loss      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Amortization of postretirement plan items, before tax (142.1) (1.1) (3.9)
Adjustment for substantial completion of liquidation of foreign subsidiaries | Translation Adjustments      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other (expense), net $ (32.3) $ 0.0 $ 0.0