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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

X

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Amount of expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses related to a discontinued operation or an asset retirement obligation.

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