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Intangible assets and goodwill - Schedule of Goodwill (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Goodwill [Roll Forward]          
Goodwill, beginning balance     $ 218,200,000    
Goodwill impairment $ (218,200,000) $ 0 (218,200,000) $ 0  
Goodwill, ending balance 0 $ 224,900,000 0 $ 224,900,000  
Products          
Goodwill [Roll Forward]          
Goodwill, beginning balance     218,200,000    
Goodwill impairment (218,200,000)        
Goodwill, ending balance 0   0    
Goodwill, gross 259,900,000   259,900,000   $ 259,900,000
Goodwill, impaired, accumulated impairment loss 259,900,000   259,900,000   259,900,000
Services          
Goodwill [Roll Forward]          
Goodwill, beginning balance     0    
Goodwill impairment     0    
Goodwill, ending balance 0   0    
Goodwill, gross 6,700,000   6,700,000   6,700,000
Goodwill, impaired, accumulated impairment loss $ 6,700,000   $ 6,700,000   $ 6,700,000