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Stockholders' equity - Accumulated Other Comprehensive Income (Loss) (Details) - USD ($)
$ in Millions
12 Months Ended
Jul. 01, 2018
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]        
Beginning Balance   $ (1,326.5) $ (1,647.4) $ (1,378.6)
Reclassification pursuant to ASU No. 2018-02   0.0    
Other comprehensive income before reclassifications   96.7 506.8 (64.9)
Amounts reclassified from accumulated other comprehensive income   (157.0) (169.8) (142.6)
Current period other comprehensive income   (269.0) 337.0 (207.5)
Ending Balance   (1,299.6) (1,326.5) (1,647.4)
Total        
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]        
Beginning Balance   (3,815.8) (4,152.8) (3,945.3)
Reclassification pursuant to ASU No. 2018-02 $ (208.7) (208.7)    
Ending Balance   (4,084.8) (3,815.8) (4,152.8)
Translation Adjustments        
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]        
Beginning Balance   (817.0) (927.1) (833.8)
Reclassification pursuant to ASU No. 2018-02   0.0    
Other comprehensive income before reclassifications   (79.7) 121.9 (93.3)
Amounts reclassified from accumulated other comprehensive income   0.0 (11.8) 0.0
Current period other comprehensive income   (79.7) 110.1 (93.3)
Ending Balance   (896.7) (817.0) (927.1)
Postretirement Plans        
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]        
Beginning Balance   (2,998.8) (3,225.7) (3,111.5)
Reclassification pursuant to ASU No. 2018-02   (208.7)    
Other comprehensive income before reclassifications   176.4 384.9 28.4
Amounts reclassified from accumulated other comprehensive income   (157.0) (158.0) (142.6)
Current period other comprehensive income   (189.3) 226.9 (114.2)
Ending Balance   $ (3,188.1) $ (2,998.8) $ (3,225.7)