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Stock-based compensation and stockholders' equity - Tax Effects Related to Each Component of Accumulated Other Comprehensive (Loss) Income (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Pretax $ (4.4)   $ 5.1   $ (7.1) $ 14.4
Tax Expense 1.8   (1.9)   2.4 (4.4)
Total other comprehensive income (loss), net of tax (2.6) $ (2.1) 3.2 $ 6.8 (4.7) 10.0
Defined Benefit Pension Plan            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Pretax (4.1)   0.0   (4.1) 0.0
Tax Expense 0.6   0.0   0.6 0.0
Total other comprehensive income (loss), net of tax (3.5) 0.0 0.0 0.0 (3.5) 0.0
Derivative Instruments            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Pretax (2.4)   3.8   (5.0) 12.4
Tax Expense 0.7   (1.0)   1.3 (3.3)
Total other comprehensive income (loss), net of tax (1.7) (2.0) 2.8 6.3 (3.7) 9.1
Foreign Currency Translation Adjustments            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Pretax 2.1   1.3   2.0 2.0
Tax Expense 0.5   (0.9)   0.5 (1.1)
Total other comprehensive income (loss), net of tax $ 2.6 $ (0.1) $ 0.4 $ 0.5 $ 2.5 $ 0.9