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Fair value measurements - Schedule of Fair Value Level 3 of Significant Unobservable Inputs (Details) - Level 3 $ in Millions | Sep. 30, 2023 USD ($) | Jun. 30, 2023 USD ($) | Mar. 31, 2023 USD ($) | Dec. 31, 2022 USD ($)
--- | --- | --- | --- | ---
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] |  |  |  |
Fair value, measurement with unobservable inputs reconciliation, recurring basis, liability value | $ 5.4 | $ 7.4 | $ 7.6 | $ 8.0
Fair Value, Recurring |  |  |  |
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] |  |  |  |
Fair value, measurement with unobservable inputs reconciliation, recurring basis, liability value | $ 5.4 |  |  |
Fair Value, Recurring | Discount rate | Discounted cash flow |  |  |  |
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] |  |  |  |
Business combination, contingent consideration, liability, measurement input | 0.104 |  |  |
Fair Value, Recurring | Probability of payment | Discounted cash flow | Minimum |  |  |  |
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] |  |  |  |
Business combination, contingent consideration, liability, measurement input | 0 |  |  |
Fair Value, Recurring | Probability of payment | Discounted cash flow | Maximum |  |  |  |
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] |  |  |  |
Business combination, contingent consideration, liability, measurement input | 0.75 |  |  |

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