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Employee benefit plans - changes in benefit obligations and plan assets and funded status (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
United States | Pension plans    
Benefit obligation    
Beginning balance $ 203.3 $ 221.4
Service cost 2.9 3.1
Interest cost 8.0 7.7
Employee contributions 0.0 0.0
Actuarial loss (gain) 29.2 (12.8)
Benefits paid (14.6) (18.5)
Settlements and curtailments 0.0 0.0
Currency translation 0.0 0.0
Other 0.0 2.4
Ending balance 228.8 203.3
Fair value of plan assets    
Beginning balance 223.2 262.8
Return (loss) on plan assets 46.9 (21.9)
Employer contributions 0.5 0.8
Employee contributions 0.0 0.0
Benefits paid (14.6) (18.5)
Settlements and curtailments 0.0 0.0
Currency translation 0.0 0.0
Other 0.0 0.0
Ending balance 256.0 223.2
Defined benefit plan, funded status of plan    
Funded status at end of year 27.2 19.9
United States | Medical plans    
Benefit obligation    
Beginning balance 16.6 18.6
Service cost 0.2 0.3
Interest cost 0.6 0.6
Employee contributions 0.0 0.1
Actuarial loss (gain) (1.4) (1.4)
Benefits paid (0.5) (0.5)
Settlements and curtailments 0.0 0.0
Currency translation 0.0 0.0
Other 0.0 (1.1)
Ending balance 15.5 16.6
Fair value of plan assets    
Beginning balance 0.0 0.0
Return (loss) on plan assets 0.0 0.0
Employer contributions 0.5 0.5
Employee contributions 0.0 0.0
Benefits paid (0.5) (0.5)
Settlements and curtailments 0.0 0.0
Currency translation 0.0 0.0
Other 0.0 0.0
Ending balance 0.0 0.0
Defined benefit plan, funded status of plan    
Funded status at end of year (15.5) (16.6)
Non-U.S. | Pension plans    
Benefit obligation    
Beginning balance 219.5 291.0
Service cost 3.7 4.5
Interest cost 4.7 5.2
Employee contributions 1.0 4.2
Actuarial loss (gain) 34.6 (13.3)
Benefits paid (7.0) (5.9)
Settlements and curtailments (0.9) (52.1)
Currency translation 2.9 (11.8)
Other (0.4) (2.3)
Ending balance 258.1 219.5
Fair value of plan assets    
Beginning balance 132.3 191.2
Return (loss) on plan assets 13.2 (0.9)
Employer contributions 3.8 3.8
Employee contributions 1.0 4.2
Benefits paid (7.0) (5.9)
Settlements and curtailments 0.0 (51.9)
Currency translation 4.4 (7.7)
Other (0.5) (0.5)
Ending balance 147.2 132.3
Defined benefit plan, funded status of plan    
Funded status at end of year $ (110.9) $ (87.2)