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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