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Long-lived asset impairment and restructuring charges - Schedule Restructuring and Related Costs (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | $ 20.3 |  | $ 29.9 |
R&D |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 0.9 |  | 3.4 |
Employee transition |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 0.3 |  | 0.6 |
Severance payments |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 17.9 |  | 26.6 |
Employee benefits |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 2.1 |  | 2.7 |
Products |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 5.0 | $ 0.0 | 7.0 | $ 0.0
Services |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 8.1 | $ 0.0 | 8.1 | $ 0.0
Total restructuring costs by segment |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 13.1 |  | 15.1 |
Total restructuring costs by segment | Products |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 5.0 |  | 7.0 |
Total restructuring costs by segment | Services |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | 8.1 |  | 8.1 |
Corporate |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring costs | $ 6.3 |  | $ 11.4 |

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