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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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