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Stock-based compensation - expense (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Other information about options outstanding    
Expense $ 12.7 $ 10.7
Equity    
Other information about options outstanding    
Expense 12.6 12.0
Liability    
Other information about options outstanding    
Expense 0.1 (1.3)
Stock options    
Other information about options outstanding    
Expense 3.6 4.0
RSUs    
Other information about options outstanding    
Expense 8.7 7.6
Other    
Other information about options outstanding    
Expense $ 0.4 $ (0.9)