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Employee plans - Summary of Changes in Level 3 Fair Value of Plan Assets (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Other Postretirement Plans |  |
Change in plan assets |  |
Fair value of plan assets at beginning of year | $ 5.6 | $ 6.0
Fair value of plan assets at end of year | 5.2 | 5.6
U.S. Plans | Other Postretirement Plans | Insurance Contracts |  |
Change in plan assets |  |
Fair value of plan assets at beginning of year | 5.6 |
Fair value of plan assets at end of year | 5.2 | 5.6
U.S. Plans | Other Postretirement Plans | Level 3 | Insurance Contracts |  |
Change in plan assets |  |
Fair value of plan assets at beginning of year | 5.6 | 6.0
Realized gains (losses) | (0.7) | (0.1)
Purchases or acquisitions | 0.3 | 0.0
Sales or dispositions | 0.0 | (0.3)
Currency and unrealized gains (losses) relating to instruments still held at December 31, 2022 | 0.0 | 0.0
Fair value of plan assets at end of year | 5.2 | 5.6
U.S. Plans | Pension Plans |  |
Change in plan assets |  |
Fair value of plan assets at beginning of year | 3,139.3 | 3,847.8
Fair value of plan assets at end of year | 2,440.1 | 3,139.3
U.S. Plans | Pension Plans | Level 3 |  |
Change in plan assets |  |
Fair value of plan assets at beginning of year | 0.0 |
Fair value of plan assets at end of year | 0.0 | 0.0
International Plans | Pension Plans |  |
Change in plan assets |  |
Fair value of plan assets at beginning of year | 2,431.6 | 3,129.4
Fair value of plan assets at end of year | 1,444.3 | 2,431.6
International Plans | Pension Plans | Level 3 |  |
Change in plan assets |  |
Fair value of plan assets at beginning of year | 110.2 |
Fair value of plan assets at end of year | 100.3 | 110.2
International Plans | Pension Plans | Level 3 | Insurance Contracts |  |
Change in plan assets |  |
Fair value of plan assets at beginning of year | 110.2 | 127.5
Realized gains (losses) | 0.0 | 0.0
Purchases or acquisitions | 5.2 | 36.1
Sales or dispositions | (10.0) | (48.7)
Currency and unrealized gains (losses) relating to instruments still held at December 31, 2022 | (5.1) | (4.7)
Fair value of plan assets at end of year | $ 100.3 | $ 110.2

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- Definition Amount, measured using unobservable inputs, of increase (decrease) in plan assets of defined benefit plan from actual return (loss) on assets sold. + 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)(02)(A) -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 55 -Paragraph 17 -URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921 + Details
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- Definition Amount, measured using unobservable inputs, of increase (decrease) in plan assets of defined benefit plan from actual return (loss) on assets still held. + 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)(02)(A) -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 55 -Paragraph 17 -URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921 + Details
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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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