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Pension plans (Tables)
 12 Months Ended
Dec. 31, 2017
Defined Benefit Plan Disclosure [Line Items]  
Schedule of Benefit Obligations in Excess of Fair Value of Plan Assets [Table Text Block]
Presented below are the projected benefit obligation, accumulated benefit obligation, and fair value of plan assets for pension plans with projected benefit obligations in excess of plan assets and pension plans with accumulated benefit obligations in excess of plan assets as of December 31, 2017 and 2016.
 
 
 
Projected Benefit Obligation Exceeds the Fair Value of Plan’s Assets
 
Accumulated Benefit Obligation
Exceeds the Fair Value of Plan’s Assets
 
 
U.S. Plans
 
Non-U.S. Plans
 
U.S. Plans
 
Non-U.S. Plans
(in millions)
 
2017
 
2016
 
2017
 
2016
 
2017
 
2016
 
2017
 
2016
Projected benefit obligation
 
$
685.7

 
$
693.7

 
$
65.6

 
$
56.8

 
$
685.7

 
$
693.7

 
$
8.7

 
$
7.9

Accumulated benefit obligation
 
685.7

 
693.7

 
59.1

 
51.0

 
685.7

 
693.7

 
6.9

 
6.3

Fair value of plan assets
 
647.3

 
641.4

 
57.1

 
50.2

 
647.3

 
641.4

 
4.1

 
3.6

 
Pension Plans, Defined Benefit [Member]  
Defined Benefit Plan Disclosure [Line Items]  
Schedule of Net Benefit Costs [Table Text Block]
Net periodic pension cost for defined benefit plans included the following components for the years ended December 31, 2017, 2016, and 2015: 
 
 
 
 
 
 
 
 
(in millions)
 
2017
 
2016
 
2015
 
Service cost - benefits earned during the year
 
$
7.4

 
$
7.6

 
$
7.8

 
Interest cost on projected benefit obligation
 
30.2

 
32.7

 
32.6

 
Expected return on plan assets
 
(48.3
)
 
(51.4
)
 
(50.7
)
 
Settlement loss
 
10.6

 
6.1

 
0.1

 
Curtailment (gain) loss
 
(0.3
)
 
—

 
—

 
Amortization of unrecognized transition obligation
 
—

 
—

 
0.1

 
Amortization of prior service cost
 
0.9

 
0.8

 
0.9

 
Recognized actuarial net loss
 
14.1

 
14.6

 
20.1

 
Net periodic pension cost
 
$
14.6

 
$
10.4

 
$
10.9

 
Schedule of Changes in Projected Benefit Obligations [Table Text Block]
Changes in benefit obligations and plan assets, and a reconciliation of the funded status at December 31, 2017 and 2016, were as follows:
 
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
(in millions)
 
2017
 
2016
 
2017
 
2016
Change in Benefit Obligation:
 
 

 
 

 
 

 
 

Benefit obligation at the beginning of the year
 
$
693.7

 
$
750.4

 
$
56.8

 
$
57.3

Service cost
 
3.8

 
6.2

 
1.7

 
1.4

Interest cost
 
28.4

 
30.7

 
1.8

 
2.0

Participant contributions
 
—

 
—

 
—

 
0.1

Plan amendments
 
0.3

 
0.1

 
—

 
0.6

Plan curtailments
 
—

 
—

 
(0.3
)
 
—

Benefits paid
 
(79.6
)
 
(79.4
)
 
(1.9
)
 
(6.2
)
Actuarial (gain) loss
 
39.1

 
(14.3
)
 
1.9

 
10.2

Foreign currency exchange rate changes
 
—

 
—

 
5.6

 
(8.6
)
Benefit obligation at the end of the year
 
$
685.7

 
$
693.7

 
$
65.6

 
$
56.8

 
 
 
 
 
 
 
 
 
Accumulated benefit obligation at the end of the year
 
$
685.7

 
$
693.7

 
$
59.1

 
$
51.0
Schedule of Changes in Fair Value of Plan Assets and Net Funded Status [Table Text Block]
 
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
(in millions)
 
2017
 
2016
 
2017
 
2016
Change in Plan Assets:
 
 

 
 

 
 

 
 

Fair value of plan assets at the beginning of the year
 
$
641.4

 
$
641.3

 
$
50.2

 
$
54.2

Actual return on plan assets
 
82.5

 
60.4

 
3.0

 
8.7

Employer contributions
 
3.0

 
19.1

 
1.0

 
1.6

Participant contributions
 
—

 
—

 
—

 
0.1

Benefits paid
 
(79.6
)
 
(79.4
)
 
(1.9
)
 
(6.2
)
Foreign currency exchange rate changes
 
—

 
—

 
4.8

 
(8.2
)
Fair value of plan assets at the end of the year
 
$
647.3

 
$
641.4

 
$
57.1

 
$
50.2

 
 
 
 
 
 
 
 
 
Unfunded status at year end:
 
$
(38.4
)
 
$
(52.3
)
 
$
(8.5
)
 
$
(6.6
)
Schedule of Amounts Recognized in Balance Sheet [Table Text Block]
 
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
(in millions)
 
2017
 
2016
 
2017
 
2016
Amount recognized in consolidated balance sheet consists of:
 
 

 
 

 
 

 
 

Accrued benefit liability, current
 
$
(1.0
)
 
$
(3.0
)
 
$
(0.2
)
 
$
(0.2
)
Accrued benefit liability, non-current
 
(37.4
)
 
(49.3
)
 
(8.3
)
 
(6.4
)
Sub-total
 
(38.4
)
 
(52.3
)
 
(8.5
)
 
(6.6
)
Deferred tax asset
 
61.8

 
71.4

 
2.3

 
1.9

Accumulated other comprehensive loss
 
97.9

 
113.1

 
9.2

 
7.3

Net amount related to pension plans
 
$
121.3

 
$
132.2

 
$
3.0

 
$
2.6
Schedule of Net Periodic Benefit Cost Not yet Recognized [Table Text Block]
Accumulated other comprehensive loss related to pension benefit plans is as follows:
 
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
(in millions)
 
2017
 
2016
 
2017
 
2016
Unrecognized net actuarial losses
 
$
156.5

 
$
180.9

 
$
10.6

 
$
8.3

Unrecognized net prior service costs
 
3.2

 
3.6

 
0.7

 
0.6

Unrecognized net transition costs
 
—

 
—

 
0.2

 
0.3

Tax benefit
 
(61.8
)
 
(71.4
)
 
(2.3
)
 
(1.9
)
Accumulated other comprehensive loss, end of year
 
$
97.9

 
$
113.1

 
$
9.2

 
$
7.3

 
Schedule of Amounts in Accumulated Other Comprehensive Income (Loss) to be Recognized over Next Fiscal Year [Table Text Block]
Estimated amounts in accumulated other comprehensive income expected to be reclassified to net period cost during 2018 are as follows:
 
 
 
 
Non-U.S.
(in millions)
 
U.S. Pension Plans
 
Pension Plans
Net actuarial losses
 
$
16.2

 
$
0.4

Net prior service costs
 
0.9

 
0.1

Total
 
$
17.1

 
$
0.5
Schedule of Assumptions Used [Table Text Block]
The weighted-average discount rates and rates of increase in future compensation levels used in determining the actuarial present value of the projected benefit obligation for the years ended December 31 are as follows:
 
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
 
 
2017
 
2016
 
2017
 
2016
Weighted-average discount rate
 
3.75
%
 
4.25
%
 
2.80
%
 
3.05
%
Rate of increase in future compensation levels
 
—

 
—

 
3.48
%
 
3.48
%
 
The weighted-average discount rates, expected returns on plan assets, and rates of increase in future compensation levels used to determine the net benefit cost for the years ended December 31 are as follows:
 
 
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
 
 
2017
 
2016
 
2015
 
2017
 
2016
 
2015
Weighted-average discount rate
 
4.21
%
 
4.25
%
 
4.00
%
 
3.05
%
 
3.96
%
 
3.67
%
Expected return on plan assets
 
7.25
%
 
7.50
%
 
7.50
%
 
5.30
%
 
6.08
%
 
6.00
%
Rate of increase in future compensation levels
 
—

 
—

 
—

 
3.48
%
 
3.71
%
 
3.66
%
Schedule of Allocation of Plan Assets [Table Text Block]
The pension plan assets measured at fair value at December 31, 2017 and 2016 follow:
 
 
2017
 
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
 
 
Quoted Price In Active Markets for Identical Assets
 
Significant Other Observable Inputs
 
Significant Unobservable Inputs
 
Quoted Price In Active Markets for Identical Assets
 
Significant Other Observable Inputs
 
Significant Unobservable Inputs
(in millions)
 
(Level 1)
 
(Level 2)
 
(Level 3)
 
(Level 1)
 
(Level 2)
 
(Level 3)
Cash and cash equivalents
 
$
6.5

 
$
2.0

 
$
—

 
$
—

 
$
—

 
$
—

Corporate debt securities
 
—

 
257.9

 
—

 
—

 
—

 
—

U.S. government debt securities
 
4.0

 
—

 
—

 
—

 
—

 
—

State and municipal debt securities
 
—

 
16.9

 
—

 
—

 
—

 
—

Registered investment company funds
 
—

 
—

 
—

 
50.8

 
—

 
—

Common trust funds
 
—

 
360.0

 
—

 
—

 
4.8

 
—

General insurance account
 
—

 
—

 
—

 
—

 
—

 
1.5

Balance at December 31, 2017
 
$
10.5

 
$
636.8

 
$
—

 
$
50.8

 
$
4.8

 
$
1.5

 
 
2016
 
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
 
 
Quoted Price In Active Markets for Identical Assets
 
Significant Other Observable Inputs
 
Significant Unobservable Inputs
 
Quoted Price In Active Markets for Identical Assets
 
Significant Other Observable Inputs
 
Significant Unobservable Inputs
(in millions)
 
(Level 1)
 
(Level 2)
 
(Level 3)
 
(Level 1)
 
(Level 2)
 
(Level 3)
Cash and cash equivalents
 
$
9.0

 
$
2.2

 
$
—

 
$
—

 
$
—

 
$
—

Corporate debt securities
 
—

 
248.5

 
—

 
—

 
—

 
—

U.S. government debt securities
 
5.4

 
—

 
—

 
—

 
—

 
—

State and municipal debt securities
 
—

 
18.4

 
—

 
—

 
—

 
—

Corporate common stock
 
—

 
—

 
—

 
—

 
—

 
—

Registered investment company funds
 
—

 
—

 
—

 
44.7

 
—

 
—

Common trust funds
 
—

 
357.9

 
—

 
—

 
4.3

 
—

General insurance account
 
—

 
—

 
—

 
—

 
—

 
1.2

Balance at December 31, 2016
 
$
14.4

 
$
627.0

 
$
—

 
$
44.7

 
$
4.3

 
$
1.2


Cash and cash equivalents.  This category consists of direct cash holdings and institutional short-term investment vehicles. Direct cash holdings are valued based on cost, which approximates fair value and are classified as Level 1. Institutional short-term investment vehicles are valued daily and are classified as Level 2.
Corporate, U.S. government, state, and municipal debt securities. These securities are valued using market inputs including benchmark yields, reported trades, broker/dealer quotes, issuer spreads, benchmark securities, bids, offers and reference data including market research publications. Inputs may be prioritized differently at certain times based on market conditions.
Corporate common stock. This category includes common and preferred stocks and index mutual funds that track U.S. and foreign indices. Fair values for the common and preferred stocks are based on quoted prices in active markets and were therefore classified within Level 1 of the fair value hierarchy. The mutual funds were valued at the unit prices established by the funds' sponsors based on the fair value of the assets underlying the funds. Since the units of the funds are not actively traded, the fair value measurements have been classified within Level 2 of the fair value hierarchy.
Registered investment company funds. This category includes mutual funds that are actively traded on public exchanges.  The funds are invested in equity and debt securities that are actively traded on public exchanges.
Common trust funds. Common trust funds consist of shares in commingled funds that are not publicly traded.  The funds are invested in equity and debt securities that are actively traded on public exchanges.
General insurance account. The general insurance account is primarily comprised of insurance contracts that guarantee a minimum return.
Schedule of Effect of Significant Unobservable Inputs, Changes in Plan Assets [Table Text Block]
The reconciliation of the beginning and ending balances of the fair value measurements using significant unobservable inputs (Level 3) for the years ended December 31, 2017 and 2016 follows: 
(in millions)
 
General Insurance Account
Fair value of plan assets at December 31, 2015
 
$
5.3

Actual return on plan assets
 
0.2

Purchases, sales and settlements, net
 
(4.3
)
Fair value of plan assets at December 31, 2016
 
1.2

Actual return on plan assets
 
0.1

Foreign currency exchange rate changes
 
0.2

Fair value of plan assets at December 31, 2017
 
$
1.5
Schedule of Expected Benefit Payments [Table Text Block]
The following benefit payments, which reflect expected future service, as appropriate, are expected to be paid:
(in millions)
 
U.S. Pension Plans
 
Non-U.S. Pension Plans
2018
 
$
37.8

 
$
1.7

2019
 
38.3

 
1.9

2020
 
38.9

 
2.0

2021
 
43.1

 
2.4

2022
 
40.6

 
2.2

Years 2023-2027
 
203.2

 
13.8