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Income taxes - Reconciliation of unrecognized tax benefits (Details) - USD ($) $ in Millions | 3 Months Ended
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Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022
Income Tax Disclosure |  |  |  |  |  |
Beginning Balance | $ 2.5 | $ 2.5 | $ 2.5 | $ 3.5 | $ 3.5 | $ 3.5
Reduction as a result of lapse of statute of limitations | 0.0 | 0.0 | 0.0 | (1.1) | 0.0 | 0.0
Ending Balance | $ 2.5 | $ 2.5 | $ 2.5 | $ 2.4 | $ 3.5 | $ 3.5

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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 45 -Paragraph 10B -URI https://asc.fasb.org/extlink&oid=123427490&loc=SL37586934-109318 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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- Definition Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a)(4) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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