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Derivative instruments and hedging activities - Fair Value by Balance Sheet Location (Details) - Interest rate swaps - Designated as Hedging Instrument - USD ($)
$ in Millions
Jun. 30, 2021
Dec. 31, 2020
Other Current Liabilities    
Derivatives, Fair Value [Line Items]    
Liability Derivatives $ 5.7 $ 5.7
Other Liabilities    
Derivatives, Fair Value [Line Items]    
Liability Derivatives $ 5.7 $ 9.3