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Income taxes - Valuation Allowance (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Movement In Deferred Tax Assets, Valuation Allowance [Roll Forward] |  |  |
Valuation allowance, at beginning of year | $ (1,226.2) | $ (1,271.5) | $ (1,524.7)
Valuation allowance, at end of year | (1,110.5) | (1,226.2) | (1,271.5)
Change in valuation allowances | (9.8) | (0.8) | 2.9
Actuarial pension adjustments |  |  |
Movement In Deferred Tax Assets, Valuation Allowance [Roll Forward] |  |  |
Increase (decrease) in valuation allowance | 70.7 | 99.5 | 41.8
Expired net operating losses/tax credits |  |  |
Movement In Deferred Tax Assets, Valuation Allowance [Roll Forward] |  |  |
Increase (decrease) in valuation allowance | 52.3 | 50.0 | 28.9
Foreign exchange |  |  |
Movement In Deferred Tax Assets, Valuation Allowance [Roll Forward] |  |  |
Increase (decrease) in valuation allowance | 14.8 | 18.4 | (20.9)
Recognition of net income tax benefit |  |  |
Movement In Deferred Tax Assets, Valuation Allowance [Roll Forward] |  |  |
Increase (decrease) in valuation allowance | (43.9) | (102.1) | 189.0
Other |  |  |
Movement In Deferred Tax Assets, Valuation Allowance [Roll Forward] |  |  |
Increase (decrease) in valuation allowance | 21.8 | (20.5) | 14.4
US Pension Activity |  |  |
Movement In Deferred Tax Assets, Valuation Allowance [Roll Forward] |  |  |
Change in valuation allowances | $ (11.3) | $ (84.9) | $ 141.7

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- Definition Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32537-109319 + Details
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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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- Definition Amount of increase (decrease) in the valuation allowance for a specified deferred tax asset. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32537-109319 + Details
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