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Cost-reduction actions - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Restructuring Cost and Reserve [Line Items] |  |  |
Cost-reduction charges and other costs | $ 54.9 | $ 23.2 | $ 95.5
Charges (credits) related to work-force reductions | 7.5 | 0.4 | 25.5
Other charges related to the cost-reduction effort | 47.4 | 22.8 | 70.0
Employee severance |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Cost-reduction charges and other costs | 7.1 | 12.3 | 39.0
Charges (credits) related to work-force reductions | 7.1 | 12.3 | 39.0
Changes in estimates |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Charges (credits) related to work-force reductions | 0.4 | (11.9) | (13.5)
Asset held-for-sale |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | 13.6 |  |
Asset impairments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | 10.9 | 12.6 | 24.0
Facility lease cost |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | 11.3 |  |
Contract amendment cost |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | 9.3 |  |
Foreign currency losses related to exiting foreign countries |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | 2.9 | 4.0 | 32.3
Other expenses |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | $ (0.6) | $ 6.2 | $ 13.7

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