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Income taxes - Unrecognized (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Income taxes    
Aggregate amount of taxable temporary differences associated with investments in subsidiaries for which deferred tax liabilities have not been recognized $ 298.1 $ 393.7
Aggregate amount of deductible temporary differences associated with other items for which deferred tax assets have not been recognized $ 48.7 $ 72.7