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Employee plans - Additional Information About Plan Assets Valued Using Net Asset Value (Details)
$ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
fund
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Pension Plans | U.S. Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value $ 2,440.1 $ 3,139.3 $ 3,847.8
Unfunded Commitments 28.4 28.6  
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  
Pension Plans | 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  
Number of funds for which redemption has been requested | fund 3    
Pension Plans | U.S. Plans | Private Equity      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 28.4 28.6  
Pension Plans | International Plans      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Fair Value 1,444.3 2,431.6 $ 3,129.4
Unfunded Commitments 73.7 138.9  
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 73.7 138.9  
Pension Plans | International Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Unfunded Commitments $ 0.0    
Redemption Notice Period Range 10 days    
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 $ 494.2 450.6  
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  
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 65.0 78.6  
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 147.4 112.5  
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 238.9 234.2  
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 42.9 25.3  
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 1,033.2 1,481.8  
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 0.0 404.5  
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 788.8 1,077.3  
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 $ 244.4  
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    
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    
Minimum | Pension Plans | U.S. Plans | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 5 days    
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 | Other, Commingled Funds      
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]      
Redemption Notice Period Range 90 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  
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