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Restructuring costs - Restructuring and Related Costs (Details) - 2023 Restructuring Plan $ in Millions | 3 Months Ended
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Mar. 31, 2023 USD ($)
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | $ 9.7
Total restructuring costs by segment |
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | 2.0
Total restructuring costs by segment | Products |
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | 2.0
Total restructuring costs by segment | Services |
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | 0.0
Corporate |
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | 5.0
R&D |
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | 2.7
Employee transition |
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | 0.3
Severance payments |
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | 8.7
Employee benefits |
Restructuring Cost and Reserve [Line Items] |
Restructuring charges | $ 0.7

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