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Revenue from contracts with customers Revenue from contracts with customers - disaggregation of revenue (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2018
Sep. 30, 2018
Jun. 30, 2018
Mar. 31, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service $ 935.8 $ 928.4 $ 914.0 $ 905.0 $ 907.7 $ 852.4 $ 849.7 $ 879.1 $ 3,683.2 $ 3,488.9 $ 3,347.0
Venezuela                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 0.0 51.4 154.1
Core services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 1,953.3 1,720.6  
High-value services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 1,584.4 1,581.3  
Other security services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 145.5 187.0  
Reportable Segments                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 3,679.7 3,437.5 3,192.9
Reportable Segments | Core services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 1,953.3 1,702.2  
Reportable Segments | High-value services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 1,580.9 1,548.3  
Reportable Segments | Other security services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 145.5 187.0  
Other items not allocated to segments                      
Disaggregation of Revenue [Line Items]                      
Acquisitions and dispositions, Revenues                 (0.5)   0.0
Other items not allocated to segments | Venezuela                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 0.0 51.4 154.1
Other items not allocated to segments | Core services                      
Disaggregation of Revenue [Line Items]                      
Acquisitions and dispositions, Revenues                 0.0    
Other items not allocated to segments | Core services | Venezuela                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                   18.4  
Other items not allocated to segments | High-value services                      
Disaggregation of Revenue [Line Items]                      
Acquisitions and dispositions, Revenues                 (0.5)    
Other items not allocated to segments | High-value services | Venezuela                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                   33.0  
Other items not allocated to segments | Other security services                      
Disaggregation of Revenue [Line Items]                      
Acquisitions and dispositions, Revenues                 0.0    
Other items not allocated to segments | Other security services | Venezuela                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                   0.0  
North America | Reportable Segments                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 1,782.8 1,466.3 1,254.2
North America | Reportable Segments | Core services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 1,115.1 895.1  
North America | Reportable Segments | High-value services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 667.7 571.2  
North America | Reportable Segments | Other security services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 0.0 0.0  
South America | Reportable Segments                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 916.5 926.9 924.6
South America | Reportable Segments | Core services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 486.4 449.8  
South America | Reportable Segments | High-value services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 418.8 465.1  
South America | Reportable Segments | Other security services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 11.3 12.0  
Rest of World | Reportable Segments                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 980.4 1,044.3 $ 1,014.1
Rest of World | Reportable Segments | Core services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 351.8 357.3  
Rest of World | Reportable Segments | High-value services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 494.4 512.0  
Rest of World | Reportable Segments | Other security services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 134.2 $ 175.0  
Internal Loss AR Rebuild                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service   $ 4.0                  
Internal Loss AR Rebuild | Other items not allocated to segments                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 4.0    
Internal Loss AR Rebuild | Other items not allocated to segments | High-value services                      
Disaggregation of Revenue [Line Items]                      
Revenue disaggregated by reportable segment and type of service                 $ 4.0