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Intangible assets and goodwill - Summary Changes in Goodwill (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Goodwill and Intangible Assets Disclosure [Abstract] |  |  |
Goodwill, beginning balance | $ 224,900,000 | $ 266,700,000 |
Goodwill impairment | (6,700,000) | (41,700,000) | $ 0
Foreign currency translation adjustment | 0 | (100,000) |
Goodwill, ending balance | 218,200,000 | 224,900,000 | 266,700,000
Products |  |  |
Goodwill and Intangible Assets Disclosure [Abstract] |  |  |
Goodwill, beginning balance | 218,200,000 | 260,000,000.0 |
Goodwill impairment | 0 | (41,700,000) |
Foreign currency translation adjustment | 0 | (100,000) |
Goodwill, ending balance | 218,200,000 | 218,200,000 | 260,000,000.0
Goodwill [Roll Forward] |  |  |
Goodwill, gross | 259,900,000 | 259,900,000 | 260,000,000
Goodwill, accumulated Impairment loss | 41,700,000 |  |
Services |  |  |
Goodwill and Intangible Assets Disclosure [Abstract] |  |  |
Goodwill, beginning balance | 6,700,000 | 6,700,000 |
Goodwill impairment | (6,700,000) | 0 |
Foreign currency translation adjustment | 0 | 0 |
Goodwill, ending balance | 0 | 6,700,000 | 6,700,000
Goodwill [Roll Forward] |  |  |
Goodwill, gross | 6,700,000 | $ 6,700,000 | $ 6,700,000
Goodwill, accumulated Impairment loss | $ 6,700,000 |  |

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