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Defined contribution and defined benefit retirement plans - Rollforward of Change in Fair Value of Level 3 Assets (Details) - Level 3 - Defined benefit pension plans - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Fair Value Assets Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]    
Fair value at beginning of year $ 259.0 $ 310.3
Gain (loss) on assets held at end of year 11.1 (31.0)
Gain (loss) on assets sold during the year 14.4 (0.7)
Assets purchased 1.7 13.8
Assets sold (3.5) (14.9)
Currency exchange rate fluctuations 9.4 (18.5)
Fair value at end of year $ 292.1 $ 259.0