Accumulated other comprehensive income (loss) - Reclasses Out Of AOCI (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	$ 191.8
Other comprehensive income (loss)	(117.4)	$ 2.2
Ending balance	66.3
Benefit Plan Adjustments
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	(583.0)
Other comprehensive income (loss) before reclassifications	4.3
Amounts reclassified from accumulated other comprehensive loss to net income	10.2
Other comprehensive income (loss)	14.5	7.5
Ending balance	(568.5)
Foreign Currency Translation Adjustments
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	(382.8)
Other comprehensive income (loss) before reclassifications	(119.9)
Amounts reclassified from accumulated other comprehensive loss to net income	0.0
Other comprehensive income (loss)	(119.9)	0.3
Ending balance	(502.7)
Gains (Losses) on Cash Flow Hedges
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	(13.2)
Other comprehensive income (loss) before reclassifications	4.7
Amounts reclassified from accumulated other comprehensive loss to net income	(16.3)
Other comprehensive income (loss)	(11.6)	(5.9)
Ending balance	(24.8)
AOCI Attributable to Parent
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	(979.0)
Other comprehensive income (loss) before reclassifications	(110.9)
Amounts reclassified from accumulated other comprehensive loss to net income	(6.1)
Other comprehensive income (loss)	(117.0)	$ 1.9
Ending balance	$ (1,096.0)