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Employee plans - Additional Information About Plan Assets Valued Using Net Asset Value (Details)
$ in Millions
12 Months Ended
Dec. 31, 2020
USD ($)
fund
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Pension Plans | U.S. Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 3,847.8 $ 3,334.2 $ 3,112.8
Unfunded Commitments 36.6 44.4  
Pension Plans | U.S. Plans | Debt Securities, 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 45 days 45 days  
Pension Plans | 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  
Pension Plans | U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 15.7 $ 44.4  
Number of funds for which redemption has been requested | fund 1    
Pension Plans | U.S. Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 20.9 0.0  
Pension Plans | International Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 3,129.4 2,816.4 $ 2,539.4
Unfunded Commitments 86.2 117.9  
Pension Plans | International Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments 0.0 0.0  
Pension Plans | International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments 86.2 117.9  
Pension Plans | International Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments 0.0 0.0  
Pension Plans | 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 | Pension Plans | U.S. Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 444.4 402.7  
Plan assets measured using NAV as a practical expedient | Pension Plans | 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 | Pension Plans | U.S. Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 121.7 86.3  
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 104.2 127.0  
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 208.0 189.0  
Plan assets measured using NAV as a practical expedient | Pension Plans | U.S. Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 10.5 0.4  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 1,576.5 1,404.1  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Equity Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 429.9 406.9  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 1,067.4 941.0  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 27.4 24.8  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 51.8 31.4  
Plan assets measured using NAV as a practical expedient | Pension Plans | International Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 0.0 $ 0.0  
Minimum | Pension Plans | U.S. Plans | Private Real Estate      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 60 days 60 days  
Requested redemption, estimated period for full receipt 3 years    
Maximum      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 120 days    
Maximum | Pension Plans | U.S. 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  
Requested redemption, estimated period for full receipt 4 years    
Maximum | Pension Plans | 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 2 days  
Maximum | Pension Plans | International Plans | Debt Securities, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 120 days 120 days  
Maximum | Pension Plans | 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 | Pension Plans | 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