Accumulated other comprehensive income (loss) - Amounts in OCI (Details) - USD ($) $ in Millions	3 Months Ended				6 Months Ended
	Jun. 30, 2020	Mar. 31, 2020	Jun. 30, 2019	Mar. 31, 2019	Jun. 30, 2020	Jun. 30, 2019
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	$ 25.3		$ (7.4)		$ (80.8)	$ (13.4)
Amounts Arising During the Current Period, Income Tax	0.3		4.3		(4.9)	5.6
Amounts Reclassified to Net Income (Loss), Pretax	12.2		13.8		0.8	22.5
Amounts Reclassified to Net Income (Loss), Income Tax	(2.6)		(3.6)		2.7	(5.4)
Other comprehensive income (loss)	35.2	$ (117.4)	7.1	$ 2.2	(82.2)	9.3
Cost of revenues	683.9		708.5		1,377.3	1,411.2
Selling, general and administrative expenses	139.6		154.6		287.7	296.3
Interest and other income (expense)	(3.0)		(3.1)		(18.6)	(14.3)
Other operating income (expense)	3.5		(1.7)		8.6	0.5
Interest expense	23.2		22.7		43.2	45.7
Benefit plan adjustments
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	(1.5)		(2.3)		2.7	(3.6)
Amounts Arising During the Current Period, Income Tax	0.2		0.4		0.3	0.6
Amounts Reclassified to Net Income (Loss), Pretax	13.4		10.2		26.7	21.5
Amounts Reclassified to Net Income (Loss), Income Tax	(3.3)		(2.4)		(6.4)	(5.1)
Other comprehensive income (loss)	8.8		5.9		23.3	13.4
Foreign currency translation adjustments
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	27.2		9.0		(92.7)	9.3
Amounts Arising During the Current Period, Income Tax	0.0		0.0		0.0	0.0
Amounts Reclassified to Net Income (Loss), Pretax	0.0		0.0		0.0	0.0
Amounts Reclassified to Net Income (Loss), Income Tax	0.0		0.0		0.0	0.0
Other comprehensive income (loss)	27.2		9.0		(92.7)	9.3
Gains (losses) on cash flow hedges
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	(1.4)		(14.2)		8.6	(19.5)
Amounts Arising During the Current Period, Income Tax	0.1		3.9		(5.2)	5.0
Amounts Reclassified to Net Income (Loss), Pretax	(1.2)		3.6		(25.9)	1.0
Amounts Reclassified to Net Income (Loss), Income Tax	0.7		(1.2)		9.1	(0.3)
Other comprehensive income (loss)	(1.8)		(7.9)		(13.4)	(13.8)
Gains (losses) on cash flow hedges | Reclassification out of accumulated other comprehensive income
Other Comprehensive Income Loss [Line Items]
Other operating income (expense)	(3.7)		2.4		(29.8)	(1.4)
Interest expense	2.4		1.3		3.9	2.5
AOCI Attributable to Parent
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	24.3		(7.5)		(81.4)	(13.8)
Amounts Arising During the Current Period, Income Tax	0.3		4.3		(4.9)	5.6
Amounts Reclassified to Net Income (Loss), Pretax	12.2		13.8		0.8	22.5
Amounts Reclassified to Net Income (Loss), Income Tax	(2.6)		(3.6)		2.7	(5.4)
Other comprehensive income (loss)	34.2	$ (117.0)	7.0	$ 1.9	(82.8)	8.9
Foreign currency translation adjustments
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	1.0		0.1		0.6	0.4
Amounts Arising During the Current Period, Income Tax	0.0		0.0		0.0	0.0
Amounts Reclassified to Net Income (Loss), Pretax	0.0		0.0		0.0	0.0
Amounts Reclassified to Net Income (Loss), Income Tax	0.0		0.0		0.0	0.0
Other comprehensive income (loss)	1.0		0.1		0.6	0.4
AOCI Attributable to Noncontrolling Interest
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	1.0		0.1		0.6	0.4
Amounts Arising During the Current Period, Income Tax	0.0		0.0		0.0	0.0
Amounts Reclassified to Net Income (Loss), Pretax	0.0		0.0		0.0	0.0
Amounts Reclassified to Net Income (Loss), Income Tax	0.0		0.0		0.0	0.0
Other comprehensive income (loss)	1.0		0.1		0.6	0.4
Benefit plan adjustments(a)
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	(1.5)		(2.3)		2.7	(3.6)
Amounts Arising During the Current Period, Income Tax	0.2		0.4		0.3	0.6
Amounts Reclassified to Net Income (Loss), Pretax	13.4		10.2		26.7	21.5
Amounts Reclassified to Net Income (Loss), Income Tax	(3.3)		(2.4)		(6.4)	(5.1)
Other comprehensive income (loss)	8.8		5.9		23.3	13.4
Benefit plan adjustments(a) | Reclassification out of accumulated other comprehensive income
Other Comprehensive Income Loss [Line Items]
Cost of revenues	2.6		1.9		5.0	3.8
Selling, general and administrative expenses	0.5		0.6		1.0	1.2
Interest and other income (expense)	9.2		7.8		18.3	17.5
Foreign currency translation adjustments
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	28.2		9.1		(92.1)	9.7
Amounts Arising During the Current Period, Income Tax	0.0		0.0		0.0	0.0
Amounts Reclassified to Net Income (Loss), Pretax	0.0		0.0		0.0	0.0
Amounts Reclassified to Net Income (Loss), Income Tax	0.0		0.0		0.0	0.0
Other comprehensive income (loss)	28.2		9.1		(92.1)	9.7
Gains (losses) on cash flow hedges(c)
Other Comprehensive Income Loss [Line Items]
Amounts Arising During the Current Period, Pretax	(1.4)		(14.2)		8.6	(19.5)
Amounts Arising During the Current Period, Income Tax	0.1		3.9		(5.2)	5.0
Amounts Reclassified to Net Income (Loss), Pretax	(1.2)		3.6		(25.9)	1.0
Amounts Reclassified to Net Income (Loss), Income Tax	0.7		(1.2)		9.1	(0.3)
Other comprehensive income (loss)	$ (1.8)		$ (7.9)		$ (13.4)	$ (13.8)