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Long-lived asset impairment and restructuring charges - Schedule of Restructuring Reserve by Type of Cost (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2023
Restructuring Reserve [Roll Forward]        
Restructuring costs $ 20.3     $ 29.9
January 2023 Restructuring Plan        
Restructuring Reserve [Roll Forward]        
Beginning balance 3.6 $ 7.4 $ 0.0 0.0
Restructuring costs (0.2) (0.1) 9.7 9.4
Cash payments (1.1) (3.7) (2.3)  
Ending balance 2.3 3.6 7.4 2.3
August 2023 Restructuring Plan        
Restructuring Reserve [Roll Forward]        
Beginning balance 0.0 0.0 0.0 0.0
Restructuring costs 20.5 0.0 0.0  
Cash payments (1.9) 0.0 0.0  
Ending balance 18.6 0.0 0.0 18.6
Employee transition        
Restructuring Reserve [Roll Forward]        
Restructuring costs 0.3     0.6
Employee transition | January 2023 Restructuring Plan        
Restructuring Reserve [Roll Forward]        
Beginning balance 0.1 0.1 0.0 0.0
Restructuring costs 0.0 0.0 0.3  
Cash payments 0.0 0.0 (0.2)  
Ending balance 0.1 0.1 0.1 0.1
Employee transition | August 2023 Restructuring Plan        
Restructuring Reserve [Roll Forward]        
Beginning balance 0.0 0.0 0.0 0.0
Restructuring costs 0.3 0.0 0.0  
Cash payments (0.2) 0.0 0.0  
Ending balance 0.1 0.0 0.0 0.1
Severance payments        
Restructuring Reserve [Roll Forward]        
Restructuring costs 17.9     26.6
Severance payments | January 2023 Restructuring Plan        
Restructuring Reserve [Roll Forward]        
Beginning balance 3.2 6.7 0.0 0.0
Restructuring costs 0.0 0.1 8.7  
Cash payments (1.1) (3.6) (2.0)  
Ending balance 2.1 3.2 6.7 2.1
Severance payments | August 2023 Restructuring Plan        
Restructuring Reserve [Roll Forward]        
Beginning balance 0.0 0.0 0.0 0.0
Restructuring costs 17.9 0.0 0.0  
Cash payments (1.7) 0.0 0.0  
Ending balance 16.2 0.0 0.0 16.2
Employee benefits        
Restructuring Reserve [Roll Forward]        
Restructuring costs 2.1     2.7
Employee benefits | January 2023 Restructuring Plan        
Restructuring Reserve [Roll Forward]        
Beginning balance 0.3 0.6 0.0 0.0
Restructuring costs (0.2) (0.2) 0.7  
Cash payments 0.0 (0.1) (0.1)  
Ending balance 0.1 0.3 0.6 0.1
Employee benefits | August 2023 Restructuring Plan        
Restructuring Reserve [Roll Forward]        
Beginning balance 0.0 0.0 0.0 0.0
Restructuring costs 2.3 0.0 0.0  
Cash payments 0.0 0.0 0.0  
Ending balance $ 2.3 $ 0.0 $ 0.0 $ 2.3