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Cost-reduction actions - Liabilities and Expected Future Payments Related to Work-Force Reduction Actions (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Reserve [Roll Forward] |  |  |
Additional provisions | $ 9.3 | $ 54.9 | $ 23.2
Work-Force Reductions |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance at beginning of period | 11.7 | 16.3 | 55.9
Additional provisions | 15.2 | 7.1 | 12.3
Payments | (10.8) | (11.5) | (38.5)
Changes in estimates | (6.9) | 0.4 | (11.9)
Translation adjustments | 0.2 | (0.6) | (1.5)
Balance at end of period | 9.4 | 11.7 | 16.3
Expected future payments on balance at December 31, 2023: |  |  |
In 2024 | 9.4 |  |
Work-Force Reductions | U.S. |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance at beginning of period | 4.2 | 5.7 | 13.1
Additional provisions | 3.4 | 3.6 | 7.9
Payments | (3.5) | (4.1) | (13.2)
Changes in estimates | (1.6) | (1.0) | (2.1)
Translation adjustments | 0.0 | 0.0 | 0.0
Balance at end of period | 2.5 | 4.2 | 5.7
Expected future payments on balance at December 31, 2023: |  |  |
In 2024 | 2.5 |  |
Work-Force Reductions | International |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Balance at beginning of period | 7.5 | 10.6 | 42.8
Additional provisions | 11.8 | 3.5 | 4.4
Payments | (7.3) | (7.4) | (25.3)
Changes in estimates | (5.3) | 1.4 | (9.8)
Translation adjustments | 0.2 | (0.6) | (1.5)
Balance at end of period | 6.9 | $ 7.5 | $ 10.6
Expected future payments on balance at December 31, 2023: |  |  |
In 2024 | $ 6.9 |  |

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