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Revenue recognition - Narrative (Details)
$ in Millions
 3 Months Ended
Mar. 31, 2023
USD ($)
segment
Dec. 31, 2022
USD ($)
Disaggregation of Revenue [Line Items]    
Number of operating segments | segment 2  
Other assets $ 184.6 $ 191.3
Revenue, remaining performance obligation, amount 331.1  
Contract with customer, asset, noncurrent 27.1 34.8
Current portion of contract liabilities $ 12.8 26.4
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-04-01    
Disaggregation of Revenue [Line Items]    
Revenue, remaining performance obligation, expected timing of satisfaction, period 24 months  
Leases    
Disaggregation of Revenue [Line Items]    
Lessee, operating lease, remaining lease term 2 years 6 months  
Lessor, operating lease, payment to be received, remainder of fiscal year $ 3.3  
Lessor, operating lease, payment to be received, year one 0.9  
Lessor, operating lease, payment to be received, year two 0.9  
Lessor, operating lease, payment to be received, year three 0.9  
Lessor, operating lease, payment to be received, year four 0.9  
Lessor, operating lease, payment to be received, after year four 0.9  
Jansen Pharmaceuticals, Inc.    
Disaggregation of Revenue [Line Items]    
Increase in other assets   $ 152.7
Other assets 153.9  
Non-cancelable orders $ 5.4