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Cost-reduction actions - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Restructuring Cost and Reserve [Line Items] |  |  |
Cost-reduction charges and other costs | $ 23.2 | $ 95.5 | $ 28.7
Charges (credits) related to work-force reductions | 0.4 | 25.5 | 22.1
Other charges related to the cost-reduction effort | 22.8 | 70.0 |
Employee severance |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Cost-reduction charges and other costs | 12.3 | 39.0 | 25.7
Charges (credits) related to work-force reductions | 12.3 | 39.0 | 25.7
Changes in estimates |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Charges (credits) related to work-force reductions | (11.9) | (13.5) | (3.6)
Foreign currency losses related to exiting foreign countries |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | 4.0 | 32.3 |
Asset impairments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | 12.6 | 24.0 |
Other expenses |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | $ 6.2 | $ 13.7 | 0.9
Idle leased facilities |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort |  |  | 6.6
Lease abandonment costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort |  |  | 4.6
Asset write-offs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort |  |  | $ 1.1

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