Accumulated other comprehensive income (loss) - Reclasses Out Of AOCI (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	$ 520.2	$ 570.2
Other comprehensive income (loss)	(14.8)	36.0
Ending balance	519.9	605.0
AOCI Attributable to Parent
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	(656.0)	(700.5)
Other comprehensive income (loss) before reclassifications	(10.0)
Amounts reclassified from accumulated other comprehensive loss to net income	(3.0)
Other comprehensive income (loss)	(13.0)	35.8
Ending balance	(669.0)	(664.7)
Benefit Plan Adjustments
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	(302.2)
Other comprehensive income (loss) before reclassifications	(0.6)
Amounts reclassified from accumulated other comprehensive loss to net income	1.6
Other comprehensive income (loss)	1.0	(0.1)
Ending balance	(301.2)
Foreign Currency Translation Adjustments
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	(368.2)
Other comprehensive income (loss) before reclassifications	(20.8)
Amounts reclassified from accumulated other comprehensive loss to net income	(0.8)
Other comprehensive income (loss)	(21.6)	43.6
Ending balance	(389.8)
Gains (losses) on available-for-sale securities
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	(1.8)
Other comprehensive income (loss) before reclassifications	(0.8)
Amounts reclassified from accumulated other comprehensive loss to net income	0.0
Other comprehensive income (loss)	(0.8)	(1.2)
Ending balance	(2.6)
Gains (Losses) on Cash Flow Hedges
Other Comprehensive Income (Loss), Net of Tax [Abstract]
Beginning balance	16.2
Other comprehensive income (loss) before reclassifications	12.2
Amounts reclassified from accumulated other comprehensive loss to net income	(3.8)
Other comprehensive income (loss)	8.4	$ (6.5)
Ending balance	$ 24.6