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Employee plans - Additional Information About Plan Assets Valued Using Net Asset Value (Details)
$ in Millions
12 Months Ended
Dec. 31, 2023
USD ($)
fund
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Pension Plans | U.S. Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 1,817.9 $ 2,440.1 $ 3,139.3
Unfunded Commitments 23.3 28.4  
Pension Plans | U.S. Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments 0.0 $ 0.0  
Redemption Notice Period Range   45 days  
Pension Plans | U.S. Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments 0.0 $ 0.0  
Pension Plans | U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 0.0 0.0  
Number of funds for which redemption has been requested | fund 3    
Pension Plans | U.S. Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 23.3 28.4  
Pension Plans | International Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 1,486.2 1,444.3 $ 2,431.6
Unfunded Commitments 42.1 73.7  
Pension Plans | International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments 42.1 73.7  
Pension Plans | International Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 0.0 $ 0.0  
Redemption Notice Period Range 10 days 10 days  
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 435.7 $ 494.2  
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 102.3 65.0  
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 96.8 147.4  
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 188.9 238.9  
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 47.7 42.9  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 539.5 1,033.2  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 191.4 788.8  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 348.1 244.4  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value    
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value    
Minimum | Pension Plans | U.S. Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 15 days    
Minimum | Pension Plans | U.S. Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 5 days 5 days  
Minimum | Pension Plans | U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 60 days 60 days  
Requested redemption, estimated period for full receipt 3 years    
Maximum      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 120 days    
Maximum | Pension Plans | U.S. Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 45 days    
Maximum | Pension Plans | U.S. Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 90 days 90 days  
Maximum | Pension Plans | U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 90 days 90 days  
Requested redemption, estimated period for full receipt 5 years    
Maximum | Pension Plans | International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range   120 days