Note: Funding Information: We thank J. Rockström, W. Steffen, G. Peterson, V. Galaz, B. Reyers, S. Cornell, J. Kuiper and H. Hillebrand for their comments on this manuscript. L.W.-E. is funded by the ERC Advanced grant no. ERC-2016-ADG 743080 (Earth Resilience in the Anthropocene Project).