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Stock-based compensation - stock option rollforward information (Details) - Common stock
$ / shares in Units, shares in Millions, $ in Millions
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Number of options outstanding  
Beginning balance (in shares) | shares 16.1
Granted (in shares) | shares 1.5
Exercised (in shares) | shares (0.1)
Forfeited (in shares) | shares (0.1)
Ending balance (in shares) | shares 17.4
Weighted average exercise price per outstanding option  
Beginning balance (in dollars per share) | $ / shares $ 20.90
Granted (in dollars per share) | $ / shares 24.62
Exercised (in dollars per share) | $ / shares 13.19
Forfeited (in dollars per share) | $ / shares 22.39
Ending balance (in dollars per share) | $ / shares $ 21.26
Other information about options outstanding  
Aggregate intrinsic value | $ $ 40.5
Weighted average remaining term 6 years 2 months 12 days
Information about options expected to vest and exercisable  
Options expected to vest, number (in shares) | shares 4.5
Options expected to vest, weighted average exercise price per option (in dollars per share) | $ / shares $ 24.15
Options expected to vest, aggregate intrinsic value | $ $ 6.6
Options expected to vest, weighted average remaining term 8 years 4 months 24 days
Options exercisable, number (in shares) | shares 12.9
Options exercisable, weighted average exercise price per option (in dollars per share) | $ / shares $ 20.25
Options exercisable, aggregate intrinsic value | $ $ 33.9
Options exercisable, weighted average remaining term 5 years 4 months 24 days