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Employee plans - Schedule of Accumulated and Projected Benefit Obligation in Excess of Plan Assets (Details) - USD ($)
$ in Millions
Dec. 31, 2019
Dec. 31, 2018
Retirement Benefits [Abstract]    
Accumulated benefit obligation $ 6,896.5 $ 6,433.6
Fair value of plan assets 5,014.1 4,553.2
Projected benefit obligation 6,898.7 6,434.9
Fair value of plan assets $ 5,014.1 $ 4,553.2