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