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Intangible assets and goodwill - Goodwill Roll Forward (Details) - USD ($)
$ in Millions
Mar. 31, 2023
Dec. 31, 2022
Goodwill and Intangible Assets Disclosure [Abstract]    
Goodwill $ 218.2 $ 218.2
Products    
Goodwill and Intangible Assets Disclosure [Abstract]    
Goodwill 218.2 218.2
Goodwill [Roll Forward]    
Goodwill, gross 259.9 259.9
Goodwill, impaired, accumulated impairment loss 41.7 41.7
Services    
Goodwill and Intangible Assets Disclosure [Abstract]    
Goodwill 0.0 0.0
Goodwill [Roll Forward]    
Goodwill, gross 6.7 6.7
Goodwill, impaired, accumulated impairment loss $ 6.7 $ 6.7