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Employee plans - Additional Information About Plan Assets Valued Using Net Asset Value (Details) - Pension Plans - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
U.S. Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 3,112.8 $ 3,578.4 $ 3,452.1
Unfunded Commitments 0.0 0.0  
U.S. Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 494.8 584.4  
U.S. Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 196.6    
Unfunded Commitments 0.0 $ 0.0  
Redemption Notice Period Range   5 days  
U.S. Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 0.0 $ 0.0  
Redemption Notice Period Range 5 days 5 days  
U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 0.0 $ 0.0  
Limited partnerships, period expected to make all distributions 1 year    
U.S. Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 0.0 0.0  
Limited partnerships, period expected to make all distributions 3 years    
International Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 2,539.4 2,833.9 $ 2,429.7
Unfunded Commitments 0.0 0.0  
International Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 165.6 84.0  
Unfunded Commitments 0.0 0.0  
International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 321.4 267.5  
Unfunded Commitments 0.0 0.0  
International Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 317.0 357.1  
Unfunded Commitments 0.0 0.0  
International Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments 0.0 0.0  
Plan assets measured using NAV as a practical expedient | U.S. Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 289.9 238.2  
Plan assets measured using NAV as a practical expedient | U.S. Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 0.0 0.0  
Plan assets measured using NAV as a practical expedient | U.S. Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 0.0 19.8  
Plan assets measured using NAV as a practical expedient | U.S. Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 110.2 105.1  
Plan assets measured using NAV as a practical expedient | U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 179.1 112.4  
Plan assets measured using NAV as a practical expedient | U.S. Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 0.6 0.9  
Plan assets measured using NAV as a practical expedient | International Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 1,309.6 1,660.1  
Plan assets measured using NAV as a practical expedient | International Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 454.9 780.7  
Plan assets measured using NAV as a practical expedient | International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 814.0 837.7  
Plan assets measured using NAV as a practical expedient | International Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 23.9 25.2  
Plan assets measured using NAV as a practical expedient | International Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 16.8 16.5  
Plan assets measured using NAV as a practical expedient | International Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 0.0 $ 0.0  
Minimum | U.S. Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 60 days    
Maximum | U.S. Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 90 days 90 days  
Maximum | International Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 2 days 30 days  
Maximum | International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 30 days 30 days  
Maximum | International Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 30 days 30 days  
Maximum | International Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 90 days 90 days