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Revenue from contracts with customers - Revenue streams - Parenthetical (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Intersegment Transaction        
Revenue From Contract With Customer Excluding Assessed Tax $ 0.2 $ 0.2 $ 2.6 $ 2.3