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Restructuring and severance - charges (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Information about restructuring charges      
Charges $ 24.3 $ 81.2 $ 29.6
2017 restructuring program      
Information about restructuring charges      
Charges 23.0 78.3 17.5
2017 restructuring program | Americas      
Information about restructuring charges      
Charges 12.1 37.4 3.2
2017 restructuring program | Europe      
Information about restructuring charges      
Charges 9.8 39.1 1.5
2017 restructuring program | AMEA      
Information about restructuring charges      
Charges 0.0 0.8 0.0
2017 restructuring program | Corporate      
Information about restructuring charges      
Charges 1.1 1.0 12.8
2017 restructuring program | Employee severance and related      
Information about restructuring charges      
Charges 11.7 48.7 17.5
2017 restructuring program | Facility closure      
Information about restructuring charges      
Charges 0.9 1.2 0.0
2017 restructuring program | Other      
Information about restructuring charges      
Charges 10.4 28.4 0.0
2017 restructuring program | Other | Write-down of finite-lived intangible assets      
Information about restructuring charges      
Charges 10.0    
2017 restructuring program | Other | Adjustment of inventory to net realizable value      
Information about restructuring charges      
Charges   20.2  
Other      
Information about restructuring charges      
Charges $ 1.3 $ 2.9 $ 12.1