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Goodwill and other intangible assets - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Goodwill and Intangible Assets Disclosure [Abstract]          
Cumulative foreign currency translation adjustment     $ (10,500,000)   $ (11,000,000.0)
Accumulated amortization, cumulative foreign currency translation adjustment $ 0   0   $ 0
Amortization expense 10,900,000 $ 12,300,000 32,000,000 $ 36,900,000  
Impairment of goodwill 0 0 0 0  
Impairment of intangible assets $ 0 $ 0 $ 0 $ 0