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Fair value measurements - Narrative (Details) - USD ($) $ in Millions	Sep. 30, 2023	Dec. 31, 2022	Aug. 07, 2020
Debt Instrument [Line Items]
Business combination, contingent consideration, liability, current	$ 2.1	$ 3.4
Senior Unsecured Notes Due August 2028 | Senior Notes
Debt Instrument [Line Items]
Stated percentage	3.875%	3.875%	3.875%
Long-term debt, fair value	$ 190.1	$ 225.1

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Amount of liability recognized arising from contingent consideration in a business combination, expected to be settled within one year or the normal operating cycle, if longer.

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