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Restructuring and impairment costs - Restructuring and Related Costs (Details) - January 2023 Restructuring Plan - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Mar. 31, 2023 | Jun. 30, 2023
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | $ (0.1) | $ 9.7 | $ 9.6
Total restructuring costs by segment |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 0.0 |  | 2.0
Total restructuring costs by segment | Products |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 0.0 |  | 2.0
Total restructuring costs by segment | Services |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 0.0 |  | 0.0
Corporate |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 0.1 |  | 5.1
R&D |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | (0.2) |  | 2.5
Employee transition |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 0.0 | 0.3 | 0.3
Severance payments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | 0.1 | 8.7 | 8.8
Employee benefits |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges | $ (0.2) | $ 0.7 | $ 0.5

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