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Cost-reduction actions - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]      
Cost-reduction charges and other costs $ 54.9 $ 23.2 $ 95.5
Charges (credits) related to work-force reductions 7.5 0.4 25.5
Other charges related to the cost-reduction effort 47.4 22.8 70.0
Employee severance      
Restructuring Cost and Reserve [Line Items]      
Cost-reduction charges and other costs 7.1 12.3 39.0
Charges (credits) related to work-force reductions 7.1 12.3 39.0
Changes in estimates      
Restructuring Cost and Reserve [Line Items]      
Charges (credits) related to work-force reductions 0.4 (11.9) (13.5)
Asset held-for-sale      
Restructuring Cost and Reserve [Line Items]      
Other charges related to the cost-reduction effort 13.6    
Asset impairments      
Restructuring Cost and Reserve [Line Items]      
Other charges related to the cost-reduction effort 10.9 12.6 24.0
Facility lease cost      
Restructuring Cost and Reserve [Line Items]      
Other charges related to the cost-reduction effort 11.3    
Contract amendment cost      
Restructuring Cost and Reserve [Line Items]      
Other charges related to the cost-reduction effort 9.3    
Foreign currency losses related to exiting foreign countries      
Restructuring Cost and Reserve [Line Items]      
Other charges related to the cost-reduction effort 2.9 4.0 32.3
Other expenses      
Restructuring Cost and Reserve [Line Items]      
Other charges related to the cost-reduction effort $ (0.6) $ 6.2 $ 13.7