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Stock-based compensation and stockholders' equity - Narrative (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Nov. 11, 2022
Nov. 11, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock options granted (in shares)       0.7      
Nonvested options forfeited (in shares)       0.6      
Stock repurchase program, authorized amount             $ 250.0
Stock repurchased during period, value   $ 23.3 $ 52.2        
At-The-Market Offering              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Sale of stock, number of shares issued in transaction (in shares) 1.1            
Sale of stock, consideration received on transaction, gross $ 9.1     $ 150.0      
Sale of stock, price per share (in dollars per share) $ 8.22     $ 8.22      
Sale of stock, amount remaining available for sale of shares $ 140.9     $ 140.9      
Treasury Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock repurchased during period, value   $ 23.3 $ 52.2   $ 75.5 $ 187.9  
Stock repurchased during period, shares (in shares)   0.7 1.1   1.8 4.4  
Restricted Stock Units              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Equity instruments other than options granted (in shares)       1.4      
Equity instruments other than options, forfeited in period (in shares)       0.4      
Performance Shares              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Equity instruments other than options granted (in shares)       0.5      
Target payout percentage 100.00%     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%