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Stockholders' equity - Amounts Reclassified Out of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other (expense), net $ (82.4) $ (580.3) $ (329.6)
Total before tax (62.6) (461.7) (271.8)
Income tax benefit (42.3) 11.9 (45.4)
Total reclassifications for the period (104.9) (449.8) (317.2)
Reclassification out of Accumulated Other Comprehensive Income      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Total before tax 156.1 676.1 (345.8)
Income tax benefit (6.0) (59.3) 5.5
Total reclassifications for the period 150.1 616.8 (340.3)
Reclassification out of Accumulated Other Comprehensive Income | Translation Adjustments      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other (expense), net 2.9 4.0 (32.3)
Reclassification out of Accumulated Other Comprehensive Income | Amortization of prior service cost      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other (expense), net (5.8) (6.2) 5.9
Reclassification out of Accumulated Other Comprehensive Income | Amortization of actuarial losses      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other (expense), net 159.0 178.9 (177.3)
Reclassification out of Accumulated Other Comprehensive Income | Settlement loss      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other (expense), net $ 0.0 $ 499.4 $ (142.1)