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Employee plans - Additional Information About Plan Assets Valued Using Net Asset Value (Details) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 USD ($) fund | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
Pension Plans | U.S. Plans |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | $ 2,440.1 | $ 3,139.3 | $ 3,847.8
Unfunded Commitments | 28.4 | 28.6 |
Pension Plans | U.S. Plans | Debt Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Unfunded Commitments | $ 0.0 | $ 0.0 |
Redemption Notice Period Range | 45 days | 45 days |
Pension Plans | U.S. Plans | Other, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Unfunded Commitments | $ 0.0 | $ 0.0 |
Redemption Notice Period Range |  | 5 days |
Pension Plans | U.S. Plans | Private Real Estate |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Unfunded Commitments | $ 0.0 | $ 0.0 |
Number of funds for which redemption has been requested | fund | 3 |  |
Pension Plans | U.S. Plans | Private Equity |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Unfunded Commitments | $ 28.4 | 28.6 |
Pension Plans | International Plans |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | 1,444.3 | 2,431.6 | $ 3,129.4
Unfunded Commitments | 73.7 | 138.9 |
Pension Plans | International Plans | Equity Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Unfunded Commitments | 0.0 | 0.0 |
Pension Plans | International Plans | Debt Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Unfunded Commitments | 73.7 | 138.9 |
Pension Plans | International Plans | Other, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Unfunded Commitments | $ 0.0 |  |
Redemption Notice Period Range | 10 days |  |
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | $ 494.2 | 450.6 |
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Equity Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value |  | 0.0 |
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Debt Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | 65.0 | 78.6 |
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Other, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | 147.4 | 112.5 |
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Private Real Estate |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | 238.9 | 234.2 |
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Private Equity |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | 42.9 | 25.3 |
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | 1,033.2 | 1,481.8 |
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Equity Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | 0.0 | 404.5 |
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Debt Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | 788.8 | 1,077.3 |
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Other, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value | $ 244.4 |  |
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Private Real Estate |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value |  |  |
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Private Equity |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Fair Value |  |  |
Minimum | Pension Plans | U.S. Plans | Other, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Redemption Notice Period Range | 5 days |  |
Minimum | Pension Plans | U.S. Plans | Private Real Estate |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Redemption Notice Period Range | 60 days | 60 days |
Requested redemption, estimated period for full receipt | 3 years |  |
Maximum |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Redemption Notice Period Range | 120 days |  |
Maximum | Pension Plans | U.S. Plans | Other, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Redemption Notice Period Range | 90 days |  |
Maximum | Pension Plans | U.S. Plans | Private Real Estate |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Redemption Notice Period Range | 90 days | 90 days |
Requested redemption, estimated period for full receipt | 4 years |  |
Maximum | Pension Plans | International Plans | Equity Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Redemption Notice Period Range |  | 2 days |
Maximum | Pension Plans | International Plans | Debt Securities, Commingled Funds |  |  |
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items] |  |  |
Redemption Notice Period Range | 120 days | 120 days |

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- Definition Amount of asset segregated and restricted to provide benefit under defined benefit plan. Asset includes, but is not limited to, stock, bond, other investment, earning from investment, and contribution by employer and employee. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(01) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(01) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (d)(ii) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 4: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (d)(iv)(02) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 6: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 7: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (d)(ii) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 + Details
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