Employee plans - Schedule of Plan Assets at Fair Value (Details) - USD ($) $ in Millions | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 |
Pension Plans | U.S. Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | $ 3,139.3 | $ 3,847.8 | $ 3,334.2 |
Pension Plans | U.S. Plans | Fair Value | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 2,688.7 | 3,403.4 | |
Pension Plans | U.S. Plans | Fair Value | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 654.3 | 774.1 | |
Pension Plans | U.S. Plans | Fair Value | Equity Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 398.9 | 640.6 | |
Pension Plans | U.S. Plans | Fair Value | U.S. Govt. Securities | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 413.2 | 388.5 | |
Pension Plans | U.S. Plans | Fair Value | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 479.3 | 589.9 | |
Pension Plans | U.S. Plans | Fair Value | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 525.2 | 689.9 | |
Pension Plans | U.S. Plans | Fair Value | Real Estate Investment Trusts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 154.1 | 112.1 | |
Pension Plans | U.S. Plans | Fair Value | Derivatives | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (53.7) | (67.3) | |
Pension Plans | U.S. Plans | Fair Value | Pooled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 108.4 | 233.4 | |
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 | (5.8) | (1.1) | |
Pension Plans | U.S. Plans | Fair Value | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0.2 | 21.8 | |
Pension Plans | U.S. Plans | Fair Value | Receivables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 15.7 | 28.8 | |
Pension Plans | U.S. Plans | Fair Value | Payables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (1.1) | (7.3) | |
Pension Plans | U.S. Plans | Level 1 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1,234.5 | 1,319 | |
Pension Plans | U.S. Plans | Level 1 | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 652.4 | 771.2 | |
Pension Plans | U.S. Plans | Level 1 | U.S. Govt. Securities | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 413.2 | 388.5 | |
Pension Plans | U.S. Plans | Level 1 | Real Estate Investment Trusts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 154.1 | 112.1 | |
Pension Plans | U.S. Plans | Level 1 | Derivatives | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 5.8 | 5 | |
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 | (5.8) | (1.1) | |
Pension Plans | U.S. Plans | Level 1 | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 0.2 | 21.8 | |
Pension Plans | U.S. Plans | Level 1 | Receivables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 15.7 | 28.8 | |
Pension Plans | U.S. Plans | Level 1 | Payables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (1.1) | (7.3) | |
Pension Plans | U.S. Plans | Level 2 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1,454.2 | 2,084.4 | |
Pension Plans | U.S. Plans | Level 2 | Common Stocks | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1.9 | 2.9 | |
Pension Plans | U.S. Plans | Level 2 | Equity Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 398.9 | 640.6 | |
Pension Plans | U.S. Plans | Level 2 | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 479.3 | 589.9 | |
Pension Plans | U.S. Plans | Level 2 | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 525.2 | 689.9 | |
Pension Plans | U.S. Plans | Level 2 | Derivatives | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | (59.5) | (72.3) | |
Pension Plans | U.S. Plans | Level 2 | Pooled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 108.4 | 233.4 | |
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 | 450.6 | 444.4 | |
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 | 78.6 | 121.7 | |
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 | 112.5 | 104.2 | |
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 | 234.2 | 208 | |
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 | 25.3 | 10.5 | |
Pension Plans | International Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 2,431.6 | 3,129.4 | 2,816.4 |
Pension Plans | International Plans | Fair Value | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 949.8 | 1,552.9 | |
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 | 34.1 | 153.4 | |
Pension Plans | International Plans | Fair Value | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 3 | 125.8 | |
Pension Plans | International Plans | Fair Value | Insurance Contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 110.2 | 127.5 | |
Pension Plans | International Plans | Fair Value | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 383.8 | 471.2 | |
Pension Plans | International Plans | Fair Value | Real Estate Investment Trusts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 2 | |
Pension Plans | International Plans | Fair Value | Derivatives | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 20.5 | |
Pension Plans | International Plans | Fair Value | Other, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 390 | 381.4 | |
Pension Plans | International Plans | Fair Value | Pooled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 178 | |
Pension Plans | International Plans | Fair Value | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 28.7 | 111.7 | |
Pension Plans | International Plans | Fair Value | Receivables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 2.1 | |
Pension Plans | International Plans | Fair Value | Payables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | (20.7) | |
Pension Plans | International Plans | Level 1 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 28.7 | 93.1 | |
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 | Cash | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 28.7 | 111.7 | |
Pension Plans | International Plans | Level 1 | Receivables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 2.1 | |
Pension Plans | International Plans | Level 1 | Payables | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | (20.7) | |
Pension Plans | International Plans | Level 2 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 810.9 | 1,332.3 | |
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 | 34.1 | 153.4 | |
Pension Plans | International Plans | Level 2 | Other Fixed Income | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 3 | 125.8 | |
Pension Plans | International Plans | Level 2 | Debt Securities, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 383.8 | 471.2 | |
Pension Plans | International Plans | Level 2 | Real Estate Investment Trusts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 2 | |
Pension Plans | International Plans | Level 2 | Derivatives | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 20.5 | |
Pension Plans | International Plans | Level 2 | Other, Commingled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 390 | 381.4 | |
Pension Plans | International Plans | Level 2 | Pooled Funds | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | | 178 | |
Pension Plans | International Plans | Level 3 | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 110.2 | 127.5 | |
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 | 110.2 | 127.5 | 123.1 |
Pension Plans | International Plans | Plan assets measured using NAV as a practical expedient | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 1,481.8 | 1,576.5 | |
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 | 404.5 | 429.9 | |
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 | 1,077.3 | 1,067.4 | |
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 | 0 | 27.4 | |
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 | 0 | 51.8 | |
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 | | | |
Other Postretirement Plans | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 5.6 | 6 | 6.9 |
Other Postretirement Plans | U.S. Plans | Insurance Contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | 5.6 | 6 | |
Other Postretirement Plans | U.S. Plans | Level 3 | Insurance Contracts | | | |
Defined Benefit Plan Disclosure [Line Items] | | | |
Total pension plan assets | $ 5.6 | $ 6 | $ 6.9 |