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Restructuring costs - Restructuring and Related Costs (Details) - 2023 Restructuring Plan
$ in Millions
3 Months Ended
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