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Employee plans - Funded Status of the Plan and Amounts Recognized in Consolidated Balance Sheet (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Amounts recognized in the consolidated balance sheets consist of:      
Prepaid postretirement assets $ 119.5 $ 159.7 $ 187.5
Other accrued liabilities (11.7) (12.1)  
Long-term postretirement liabilities (714.6) (976.2)  
Pension Plans | U.S. Plans      
Change in projected/accumulated benefit obligation      
Benefit obligation at beginning of year 3,709.6 4,545.3  
Service cost 0.0 0.0 0.0
Interest cost 114.6 117.6 162.5
Plan participants’ contributions 0.0 0.0  
Plan settlement 0.0 (513.8)  
Actuarial (gain) loss (668.1) (108.4)  
Benefits paid (303.2) (331.1)  
Foreign currency translation and other adjustments 0.0 0.0  
Benefit obligation at end of year 2,852.9 3,709.6 4,545.3
Change in plan assets      
Fair value of plan assets at beginning of year 3,139.3 3,847.8  
Actual return on plan assets (401.9) 130.4  
Employer contribution 5.9 6.0  
Plan participants’ contributions 0.0 0.0  
Plan settlement 0.0 (513.8)  
Benefits paid (303.2) (331.1)  
Foreign currency translation adjustments 0.0 0.0  
Fair value of plan assets at end of year 2,440.1 3,139.3 3,847.8
Funded status at end of year (412.8) (570.3)  
Amounts recognized in the consolidated balance sheets consist of:      
Prepaid postretirement assets 44.4 33.9  
Other accrued liabilities (5.4) (5.9)  
Long-term postretirement liabilities (451.8) (598.3)  
Total funded status (412.8) (570.3)  
Accumulated other comprehensive loss, net of tax      
Net (income) loss 1,845.3 2,047.6  
Prior service credit (27.2) (29.7)  
Accumulated benefit obligation 2,852.9 3,709.6  
Pension Plans | International Plans      
Change in projected/accumulated benefit obligation      
Benefit obligation at beginning of year 2,614.4 3,468.0  
Service cost 1.9 3.0 2.8
Interest cost 39.3 36.7 53.4
Plan participants’ contributions 1.1 1.0  
Plan settlement 0.0 (726.8)  
Actuarial (gain) loss (726.4) 2.0  
Benefits paid (86.4) (106.5)  
Foreign currency translation and other adjustments (269.3) (63.0)  
Benefit obligation at end of year 1,574.6 2,614.4 3,468.0
Change in plan assets      
Fair value of plan assets at beginning of year 2,431.6 3,129.4  
Actual return on plan assets (685.7) 134.0  
Employer contribution 33.4 46.4  
Plan participants’ contributions 1.1 1.0  
Plan settlement 0.0 (726.8)  
Benefits paid (86.4) (106.5)  
Foreign currency translation adjustments (249.7) (45.9)  
Fair value of plan assets at end of year 1,444.3 2,431.6 3,129.4
Funded status at end of year (130.3) (182.8)  
Amounts recognized in the consolidated balance sheets consist of:      
Prepaid postretirement assets 75.1 125.8  
Other accrued liabilities (0.2) (0.1)  
Long-term postretirement liabilities (205.2) (308.5)  
Total funded status (130.3) (182.8)  
Accumulated other comprehensive loss, net of tax      
Net (income) loss 859.7 797.6  
Prior service credit (44.9) (40.2)  
Accumulated benefit obligation 1,573.0 2,612.7  
Other Postretirement Benefit Plans      
Change in projected/accumulated benefit obligation      
Benefit obligation at beginning of year 81.1 80.2  
Service cost 0.2 0.4 0.5
Interest cost 1.9 1.8 4.4
Plan participants’ contributions 0.9 1.7  
Amendments 0.0 1.2  
Actuarial (gain) loss (16.1) 1.8  
Benefits paid (4.9) (5.9)  
Foreign currency translation and other adjustments 5.8 (0.1)  
Benefit obligation at end of year 68.9 81.1 80.2
Change in plan assets      
Fair value of plan assets at beginning of year 5.6 6.0  
Actual return on plan assets (0.7) (0.2)  
Employer contribution 4.3 4.0  
Plan participants’ contributions 0.9 1.7  
Benefits paid (4.9) (5.9)  
Fair value of plan assets at end of year 5.2 5.6 $ 6.0
Funded status at end of year (63.7) (75.5)  
Amounts recognized in the consolidated balance sheets consist of:      
Other accrued liabilities (6.1) (6.1)  
Long-term postretirement liabilities (57.6) (69.4)  
Total funded status (63.7) (75.5)  
Accumulated other comprehensive loss, net of tax      
Net (income) loss (7.8) 1.4  
Prior service credit $ (0.7) $ (2.1)