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Share-based compensation - Schedule of Common Stock Granted to Non-employee Directors (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Income tax benefit	$ 2.2	$ 2.1	$ 1.4
Common stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares granted (in shares)	40,450	35,720	29,816
Fair value	$ 1.5	$ 1.5	$ 1.3
Income tax benefit	$ 0.4	$ 0.4	$ 0.3

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