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Stockholders' equity - Tax Effects Related to Each Component of Accumulated Other Comprehensive (Loss) Income (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |
Pretax | $ 23.9 | $ 12.0 | $ (19.8)
Tax Benefit (Expense) | (4.7) | (2.8) | 4.4
Total other comprehensive income (loss), net of tax | 19.2 | 9.2 | (15.4)
Defined Benefit Pension Plan |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |
Pretax | 8.7 | 4.3 | (5.0)
Tax Benefit (Expense) | (1.2) | (0.6) | 0.7
Total other comprehensive income (loss), net of tax | 7.5 | 3.7 | (4.3)
Derivative Instruments |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |
Pretax | 14.6 | 8.9 | (13.0)
Tax Benefit (Expense) | (3.9) | (2.4) | 3.6
Total other comprehensive income (loss), net of tax | 10.7 | 6.5 | (9.4)
Foreign Currency Translation Adjustments |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |
Pretax | 0.6 | (1.2) | (1.8)
Tax Benefit (Expense) | 0.4 | 0.2 | 0.1
Total other comprehensive income (loss), net of tax | $ 1.0 | $ (1.0) | $ (1.7)

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