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Employee plans - Narrative (Details)
$ in Millions
1 Months Ended 3 Months Ended 12 Months Ended
Oct. 14, 2021
USD ($)
retiree
May 01, 2021
USD ($)
Jan. 31, 2021
USD ($)
retiree
Dec. 31, 2020
USD ($)
former_associate
Jun. 30, 2022
USD ($)
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares of unissued common stock available for grant under the plans (in shares) | shares           6,000,000    
Matching contribution by the company as percentage of participants' contribution           50.00%    
Percentage of eligible pay contributed by participants that will be matched           6.00%    
Cost recognized for contribution plans           $ 6.9 $ 7.5 $ 8.8
Deferred compensation liability           7.9 10.6  
Settlement loss $ 130.1              
Non-cash pension settlement charge 130.1              
International Plans                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Cost recognized for contribution plans           16.6 16.4 16.2
Pension Plans                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Settlement loss             499.4  
Non-cash pension settlement charge             499.4  
Estimated cash contributions by the company in next fiscal year           40.0    
Pension Plans | U.S. Plans                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Group annuity contract to transfer projected benefit obligations, purchase amount $ 235.0   $ 279.0          
Group annuity contract to transfer projected benefit obligations, number of retirees | retiree 6,900   11,600          
Settlement loss     $ 158.0 $ 142.1   0.0 288.1 142.1
Lump sum payments, number of former associates | former_associate       3,500        
Lump -sum payments       $ 276.0        
Non-cash pension settlement charge     $ 158.0 $ 142.1   0.0 288.1 142.1
Pension Plans | International Plans                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Settlement loss           0.0 211.3 0.0
Non-cash pension settlement charge           0.0 211.3 0.0
Pension Plans | Dutch Plans                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Settlement loss   $ 182.5            
Projected benefit obligation transferred to multiemployer plan and removed from balance sheet   553.0            
Non-cash pension settlement charge   $ 182.5            
Pension Plans | Swiss Plans                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Settlement loss         $ 28.8      
Projected benefit obligation transferred to multiemployer plan and removed from balance sheet         100.0      
Multiemployer plan, pension, significant, plan contribution         10.0      
Non-cash pension settlement charge         $ 28.8      
Other Postretirement Benefit Plans                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Estimated cash contributions by the company in next fiscal year           $ 4.0    
Maximum                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Certain investments valued using net asset value as practical expedient, redemption notice period           120 days    
Restricted Stock And Restricted Stock Units R S Us                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based compensation expense           $ 20.0 18.8 14.5
Aggregate weighted-average grant-date fair value of units granted           27.0 37.5 17.4
Total unrecognized compensation cost           $ 26.7    
Unrecognized compensation cost, weighted-average recognition period           1 year 10 months 24 days    
Aggregate weighted-average grant-date fair value of units vested           $ 17.4 $ 15.3 $ 13.0
Performance-Based Unit | Minimum                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares which will vest after achievement of goals (in shares) | shares           0    
Performance-Based Unit | Maximum                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares which will vest after achievement of goals (in shares) | shares           2