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Employee benefit plans - other balance sheet information (Details) - USD ($)
$ in Millions
Dec. 31, 2022
Dec. 31, 2021
United States | Pension plans    
Defined benefit plan, additional information    
Accumulated benefit obligation $ 164.0 $ 222.1
Amounts recorded in balance sheet:    
Other assets 47.8 49.2
Other current liabilities (0.7) (0.7)
Other liabilities (4.4) (9.7)
Funded status 42.7 38.8
Components of AOCI, excluding tax effects:    
Actuarial (loss) gain (16.1) (16.4)
Prior service gain 0.0 0.0
United States | Medical plans    
Defined benefit plan, additional information    
Accumulated benefit obligation 10.0 14.7
Amounts recorded in balance sheet:    
Other assets 0.0 0.0
Other current liabilities (0.8) (0.8)
Other liabilities (9.4) (14.1)
Funded status (10.2) (14.9)
Components of AOCI, excluding tax effects:    
Actuarial (loss) gain 10.8 6.8
Prior service gain 0.0 0.2
Non-U.S. | Pension plans    
Defined benefit plan, additional information    
Accumulated benefit obligation 176.5 277.5
Amounts recorded in balance sheet:    
Other assets 4.3 2.9
Other current liabilities (2.8) (2.9)
Other liabilities (62.2) (108.8)
Funded status (60.7) (108.8)
Components of AOCI, excluding tax effects:    
Actuarial (loss) gain 21.0 (20.9)
Prior service gain $ 1.2 $ 1.0