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Employee plans - Narrative (Details) $ in Millions |  |  | 1 Months Ended | 3 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | ---
Oct. 14, 2021 USD ($) retiree | May 01, 2021 USD ($) | Nov. 30, 2023 USD ($) retiree | Mar. 31, 2023 USD ($) retiree | Jan. 31, 2021 USD ($) retiree | Jun. 30, 2021 USD ($) | Dec. 31, 2023 USD ($) shares | Dec. 31, 2022 USD ($) | Dec. 31, 2021 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 |  |  |  |  |  |  | 5,300,000 |  |
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 |  |  |  |  |  |  | $ 6.6 | $ 6.9 | $ 7.5
Deferred compensation liability |  |  |  |  |  |  | 7.1 | 7.9 |
International Plans |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Cost recognized for contribution plans |  |  |  |  |  |  | 16.9 | 16.6 | 16.4
Pension Plans |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Non-cash pension settlement charge |  |  |  |  |  |  | 348.9 |  | 499.4
Estimated cash contributions by the company in next fiscal year |  |  |  |  |  |  | 21.0 |  |
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 |  | $ 253.0 | $ 263.0 | $ 279.0 |  |  |  |
Group annuity contract to transfer projected benefit obligations, number of retirees | retiree | 6,900 |  | 3,900 | 8,650 | 11,600 |  |  |  |
Non-cash pension settlement charge | $ 130.1 |  | $ 167.2 | $ 181.0 | $ 158.0 |  | 348.2 | 0.0 | 288.1
Pension Plans | International Plans |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Non-cash pension settlement charge |  |  |  |  |  |  | 0.7 | 0.0 | 211.3
Pension Plans | Dutch Plans |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Non-cash pension settlement charge |  | $ 182.5 |  |  |  |  |  |  |
Projected benefit obligation transferred to multiemployer plan and removed from balance sheet |  | $ 553.0 |  |  |  |  |  |  |
Pension Plans | Swiss Plans |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Non-cash pension settlement charge |  |  |  |  |  | $ 28.8 |  |  |
Projected benefit obligation transferred to multiemployer plan and removed from balance sheet |  |  |  |  |  | 100.0 |  |  |
Multiemployer plan, pension, significant, plan contribution |  |  |  |  |  | $ 10.0 |  |  |
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 RSU |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Share-based compensation expense |  |  |  |  |  |  | $ 17.2 | 20.0 | 18.8
Aggregate weighted-average grant-date fair value of units granted |  |  |  |  |  |  | 17.1 | 27.0 | 37.5
Total unrecognized compensation cost |  |  |  |  |  |  | $ 18.2 |  |
Unrecognized compensation cost, weighted-average recognition period |  |  |  |  |  |  | 1 year 8 months 12 days |  |
Aggregate weighted-average grant-date fair value of units vested |  |  |  |  |  |  | $ 9.1 | $ 17.4 | $ 15.3
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 |  |

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