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Employee plans - Schedule of Accumulated and Projected Benefit Obligation in Excess of Plan Assets (Details) - USD ($)
$ in Millions
Dec. 31, 2016
Dec. 31, 2015
Compensation and Retirement Disclosure [Abstract]    
Accumulated benefit obligation $ 7,551.8 $ 7,231.2
Fair value of plan assets 5,357.2 5,228.6
Projected benefit obligation 7,555.2 7,235.4
Fair value of plan assets $ 5,357.2 $ 5,228.6