Employee plans - Schedule of Plan Assets at Fair Value (Details) - USD ($) $ in Millions | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 |
Pension Plans | U.S. Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | $ 3,847.8 | $ 3,334.2 | $ 3,112.8 |
Pension Plans | U.S. Plans | Fair Value | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 3,403.4 | 2,931.5 | |
Pension Plans | U.S. Plans | Fair Value | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 774.1 | 955.3 | |
Pension Plans | U.S. Plans | Fair Value | Equity Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 640.6 | 578.8 | |
Pension Plans | U.S. Plans | Fair Value | U.S. Govt. Securities | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 388.5 | 436 | |
Pension Plans | U.S. Plans | Fair Value | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 589.9 | 278.1 | |
Pension Plans | U.S. Plans | Fair Value | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 689.9 | 433.6 | |
Pension Plans | U.S. Plans | Fair Value | Real Estate Investment Trusts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 112.1 | 14 | |
Pension Plans | U.S. Plans | Fair Value | Real Estate, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 186.5 | |
Pension Plans | U.S. Plans | Fair Value | Derivatives, excluding cumulative futures contracts variation margin (received) paid (from) to brokers | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (67.3) | (103.5) | |
Pension Plans | U.S. Plans | Fair Value | Pooled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 233.4 | 135.5 | |
Pension Plans | U.S. Plans | Fair Value | Cumulative futures contracts variation margin paid to (received from) brokers | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (1.1) | 8.2 | |
Pension Plans | U.S. Plans | Fair Value | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 21.8 | 2 | |
Pension Plans | U.S. Plans | Fair Value | Receivables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 28.8 | 14.4 | |
Pension Plans | U.S. Plans | Fair Value | Payables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (7.3) | (7.4) | |
Pension Plans | U.S. Plans | Level 1 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1,319 | 1,411.8 | |
Pension Plans | U.S. Plans | Level 1 | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 771.2 | 952.8 | |
Pension Plans | U.S. Plans | Level 1 | U.S. Govt. Securities | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 388.5 | 436 | |
Pension Plans | U.S. Plans | Level 1 | Real Estate Investment Trusts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 112.1 | 14 | |
Pension Plans | U.S. Plans | Level 1 | Derivatives, excluding cumulative futures contracts variation margin (received) paid (from) to brokers | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 5 | (8.2) | |
Pension Plans | U.S. Plans | Level 1 | Cumulative futures contracts variation margin paid to (received from) brokers | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (1.1) | 8.2 | |
Pension Plans | U.S. Plans | Level 1 | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 21.8 | 2 | |
Pension Plans | U.S. Plans | Level 1 | Receivables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 28.8 | 14.4 | |
Pension Plans | U.S. Plans | Level 1 | Payables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (7.3) | (7.4) | |
Pension Plans | U.S. Plans | Level 2 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 2,084.4 | 1,519.7 | |
Pension Plans | U.S. Plans | Level 2 | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 2.9 | 2.5 | |
Pension Plans | U.S. Plans | Level 2 | Equity Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 640.6 | 578.8 | |
Pension Plans | U.S. Plans | Level 2 | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 589.9 | 278.1 | |
Pension Plans | U.S. Plans | Level 2 | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 689.9 | 433.6 | |
Pension Plans | U.S. Plans | Level 2 | Real Estate, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 186.5 | |
Pension Plans | U.S. Plans | Level 2 | Derivatives, excluding cumulative futures contracts variation margin (received) paid (from) to brokers | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (72.3) | (95.3) | |
Pension Plans | U.S. Plans | Level 2 | Pooled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 233.4 | 135.5 | |
Pension Plans | U.S. Plans | Level 3 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0 | 0 | |
Pension Plans | U.S. Plans | Level 3 | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0 | 0 | |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 444.4 | 402.7 | |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Equity Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0 | 0 | |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 121.7 | 86.3 | |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Other, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 104.2 | 127 | |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Private Real Estate | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 208 | 189 | |
Pension Plans | U.S. Plans | Plan assets measured using NAV as a practical expedient | Private Equity | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 10.5 | 0.4 | |
Pension Plans | International Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 3,129.4 | 2,816.4 | 2,539.4 |
Pension Plans | International Plans | Fair Value | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1,552.9 | 1,412.3 | |
Pension Plans | International Plans | Fair Value | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0 | 0 | |
Pension Plans | International Plans | Fair Value | Equity Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 153.4 | 176.7 | |
Pension Plans | International Plans | Fair Value | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 125.8 | 91 | |
Pension Plans | International Plans | Fair Value | Insurance Contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 127.5 | 123.1 | |
Pension Plans | International Plans | Fair Value | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 471.2 | 441 | |
Pension Plans | International Plans | Fair Value | Real Estate Investment Trusts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 2 | 1 | |
Pension Plans | International Plans | Fair Value | Derivatives, excluding cumulative futures contracts variation margin (received) paid (from) to brokers | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 20.5 | 6.5 | |
Pension Plans | International Plans | Fair Value | Other, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 381.4 | 372.8 | |
Pension Plans | International Plans | Fair Value | Pooled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 178 | 189.2 | |
Pension Plans | International Plans | Fair Value | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 111.7 | 18.1 | |
Pension Plans | International Plans | Fair Value | Receivables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 2.1 | 0.2 | |
Pension Plans | International Plans | Fair Value | Payables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (20.7) | (7.3) | |
Pension Plans | International Plans | Level 1 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 93.1 | 11 | |
Pension Plans | International Plans | Level 1 | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0 | 0 | |
Pension Plans | International Plans | Level 1 | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 0 | |
Pension Plans | International Plans | Level 1 | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 111.7 | 18.1 | |
Pension Plans | International Plans | Level 1 | Receivables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 2.1 | 0.2 | |
Pension Plans | International Plans | Level 1 | Payables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (20.7) | (7.3) | |
Pension Plans | International Plans | Level 2 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1,332.3 | 1,278.2 | |
Pension Plans | International Plans | Level 2 | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0 | 0 | |
Pension Plans | International Plans | Level 2 | Equity Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 153.4 | 176.7 | |
Pension Plans | International Plans | Level 2 | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 125.8 | 91 | |
Pension Plans | International Plans | Level 2 | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 471.2 | 441 | |
Pension Plans | International Plans | Level 2 | Real Estate Investment Trusts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 2 | 1 | |
Pension Plans | International Plans | Level 2 | Derivatives, excluding cumulative futures contracts variation margin (received) paid (from) to brokers | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 20.5 | 6.5 | |
Pension Plans | International Plans | Level 2 | Other, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 381.4 | 372.8 | |
Pension Plans | International Plans | Level 2 | Pooled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 178 | 189.2 | |
Pension Plans | International Plans | Level 3 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 127.5 | 123.1 | |
Pension Plans | International Plans | Level 3 | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0 | 0 | |
Pension Plans | International Plans | Level 3 | Insurance Contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 127.5 | 123.1 | 123.7 |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1,576.5 | 1,404.1 | |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Equity Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 429.9 | 406.9 | |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1,067.4 | 941 | |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Other, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 27.4 | 24.8 | |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Private Real Estate | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 51.8 | 31.4 | |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | Private Equity | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0 | 0 | |
Other Postretirement Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 6 | 6.9 | 7.8 |
Other Postretirement Plans | U.S. Plans | Insurance Contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 6 | 6.9 | |
Other Postretirement Plans | U.S. Plans | Level 3 | Insurance Contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | $ 6 | $ 6.9 | $ 7.8 |