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Stock-based compensation and stockholders' equity - Narrative (Details) - USD ($)
shares in Millions, $ in Millions
3 Months Ended 12 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Nov. 11, 2022
Nov. 11, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock options granted (in shares) 0.3      
Nonvested options forfeited (in shares) 0.2      
Stock repurchase program, authorized amount       $ 250.0
Stock repurchased during period, value   $ 52.2    
Treasury Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock repurchased during period, value   $ 52.2 $ 187.9  
Stock repurchased during period, shares (in shares)   1.1 4.4  
Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Equity instruments other than options granted (in shares) 0.6      
Equity instruments other than options, forfeited in period (in shares) 0.2      
Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Equity instruments other than options granted (in shares) 0.1      
Target payout percentage 100.00%      
Award vesting period 3 years      
Tranche One | Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting rights, percentage 33.33%      
Tranche One | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting rights, percentage 33.33%      
Tranche Two | Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting rights, percentage 33.33%      
Tranche Two | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting rights, percentage 33.33%      
Tranche Three | Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting rights, percentage 33.33%      
Tranche Three | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting rights, percentage 33.33%