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Intangible assets - Finite-lived Intangible Assets Amortization Expense (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Goodwill and Intangible Assets Disclosure [Abstract]        
Amortization Expense $ 14.0 $ 15.1 $ 28.0 $ 30.0