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Employee plans - Schedule of Plan Assets at Fair Value (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Pension Plans | U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | $ 1,817.9 | $ 2,440.1 | $ 3,139.3
Pension Plans | U.S. Plans | Fair Value |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 1,382.2 | 1,945.9 |
Pension Plans | U.S. Plans | Fair Value | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 361.5 | 544.6 |
Pension Plans | U.S. Plans | Fair Value | Equity Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 227.9 | 383.2 |
Pension Plans | U.S. Plans | Fair Value | U.S. Govt. Securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 289.8 | 291.7 |
Pension Plans | U.S. Plans | Fair Value | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 245.1 | 293.8 |
Pension Plans | U.S. Plans | Fair Value | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 127.4 | 185.5 |
Pension Plans | U.S. Plans | Fair Value | Real Estate Investment Trusts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 34.6 | 87.1 |
Pension Plans | U.S. Plans | Fair Value | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 89.9 | 95.0 |
Pension Plans | U.S. Plans | Fair Value | Pooled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 80.0 | 92.1 |
Pension Plans | U.S. Plans | Fair Value | Cumulative futures contracts variation margin paid to (received from) brokers |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | (67.4) | 5.3 |
Pension Plans | U.S. Plans | Fair Value | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 1.6 | 0.8 |
Pension Plans | U.S. Plans | Fair Value | Receivables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 10.8 | 9.3 |
Pension Plans | U.S. Plans | Fair Value | Payables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | (19.0) | (42.5) |
Pension Plans | U.S. Plans | Level 1 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 679.1 | 890.2 |
Pension Plans | U.S. Plans | Level 1 | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 360.6 | 543.2 |
Pension Plans | U.S. Plans | Level 1 | U.S. Govt. Securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 289.8 | 291.7 |
Pension Plans | U.S. Plans | Level 1 | Real Estate Investment Trusts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 34.6 | 87.1 |
Pension Plans | U.S. Plans | Level 1 | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 68.1 | (4.7) |
Pension Plans | U.S. Plans | Level 1 | Cumulative futures contracts variation margin paid to (received from) brokers |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | (67.4) | 5.3 |
Pension Plans | U.S. Plans | Level 1 | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 1.6 | 0.8 |
Pension Plans | U.S. Plans | Level 1 | Receivables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 10.8 | 9.3 |
Pension Plans | U.S. Plans | Level 1 | Payables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | (19.0) | (42.5) |
Pension Plans | U.S. Plans | Level 2 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 703.1 | 1,055.7 |
Pension Plans | U.S. Plans | Level 2 | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.9 | 1.4 |
Pension Plans | U.S. Plans | Level 2 | Equity Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 227.9 | 383.2 |
Pension Plans | U.S. Plans | Level 2 | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 245.1 | 293.8 |
Pension Plans | U.S. Plans | Level 2 | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 127.4 | 185.5 |
Pension Plans | U.S. Plans | Level 2 | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 21.8 | 99.7 |
Pension Plans | U.S. Plans | Level 2 | Pooled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 80.0 | 92.1 |
Pension Plans | U.S. Plans | Level 3 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | 0.0 |
Pension Plans | U.S. Plans | Level 3 | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | 0.0 |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 435.7 | 494.2 |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 102.3 | 65.0 |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Other, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 96.8 | 147.4 |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Private Real Estate |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 188.9 | 238.9 |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Private Equity |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 47.7 | 42.9 |
Pension Plans | International Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 1,486.2 | 1,444.3 | 2,431.6
Pension Plans | International Plans | Fair Value |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 946.7 | 411.1 |
Pension Plans | International Plans | Fair Value | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | 0.0 |
Pension Plans | International Plans | Fair Value | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 360.3 | 2.8 |
Pension Plans | International Plans | Fair Value | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 510.6 | 100.3 |
Pension Plans | International Plans | Fair Value | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 16.1 | 126.5 |
Pension Plans | International Plans | Fair Value | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | (3.4) |  |
Pension Plans | International Plans | Fair Value | Other, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 13.2 | 15.0 |
Pension Plans | International Plans | Fair Value | Pooled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 12.0 | 25.3 |
Pension Plans | International Plans | Fair Value | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 37.9 | 20.5 |
Pension Plans | International Plans | Fair Value | Receivables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | 120.9 |
Pension Plans | International Plans | Fair Value | Payables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | (0.2) |
Pension Plans | International Plans | Level 1 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 37.9 | 141.2 |
Pension Plans | International Plans | Level 1 | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | 0.0 |
Pension Plans | International Plans | Level 1 | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 37.9 | 20.5 |
Pension Plans | International Plans | Level 1 | Receivables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | 120.9 |
Pension Plans | International Plans | Level 1 | Payables |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | (0.2) |
Pension Plans | International Plans | Level 2 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 398.2 | 169.6 |
Pension Plans | International Plans | Level 2 | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | 0.0 |
Pension Plans | International Plans | Level 2 | Other Fixed Income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 360.3 | 2.8 |
Pension Plans | International Plans | Level 2 | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 16.1 | 126.5 |
Pension Plans | International Plans | Level 2 | Derivatives |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | (3.4) |  |
Pension Plans | International Plans | Level 2 | Other, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 13.2 | 15.0 |
Pension Plans | International Plans | Level 2 | Pooled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 12.0 | 25.3 |
Pension Plans | International Plans | Level 3 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 510.6 | 100.3 |
Pension Plans | International Plans | Level 3 | Common Stocks |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 0.0 | 0.0 |
Pension Plans | International Plans | Level 3 | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 510.6 | 100.3 | 110.2
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 539.5 | 1,033.2 |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Debt Securities, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 191.4 | 788.8 |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Other, Commingled Funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 348.1 | 244.4 |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Private Real Estate |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets |  |  |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Private Equity |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets |  |  |
Other Postretirement Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 3.2 | 5.2 | 5.6
Other Postretirement Plans | U.S. Plans | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | 3.2 | 5.2 |
Other Postretirement Plans | U.S. Plans | Level 3 | Insurance Contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total pension plan assets | $ 3.2 | $ 5.2 | $ 5.6

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