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Stock-based compensation and stockholders' equity - Changes in Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning balance $ 1,383.0 $ 1,619.0
Other comprehensive loss before reclassifications (4.5) 5.4
Amounts reclassified from accumulated other comprehensive income (loss) 2.4 1.4
Total other comprehensive income (loss), net of tax (2.1) 6.8
Ending balance 1,202.6 1,575.3
Total    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning balance 3.1 (16.1)
Total other comprehensive income (loss), net of tax (2.1) 6.8
Ending balance 1.0 (9.3)
Defined Benefit Pension Plan    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning balance 3.5 (4.0)
Other comprehensive loss before reclassifications 0.0 0.0
Amounts reclassified from accumulated other comprehensive income (loss) 0.0 0.0
Total other comprehensive income (loss), net of tax 0.0 0.0
Ending balance 3.5 (4.0)
Derivative Instruments    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning balance 6.2 (4.5)
Other comprehensive loss before reclassifications (4.4) 4.9
Amounts reclassified from accumulated other comprehensive income (loss) 2.4 1.4
Total other comprehensive income (loss), net of tax (2.0) 6.3
Ending balance 4.2 1.8
Foreign Currency Translation Adjustments    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Beginning balance (6.6) (7.6)
Other comprehensive loss before reclassifications (0.1) 0.5
Amounts reclassified from accumulated other comprehensive income (loss) 0.0 0.0
Total other comprehensive income (loss), net of tax (0.1) 0.5
Ending balance $ (6.7) $ (7.1)