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Stock-based compensation and stockholders' equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 4 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2023
Sep. 30, 2022
Nov. 11, 2022
Sep. 28, 2023
Nov. 11, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Stock options granted (in shares)             800,000        
Nonvested options forfeited (in shares)             900,000        
Stock repurchase program, authorized amount                     $ 250.0
Stock repurchased during period, value       $ 23.3 $ 52.2            
Treasury Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Stock repurchased during period, value       $ 23.3 $ 52.2     $ 75.5 $ 187.9    
Stock repurchased during period, shares (in shares)     0 700,000 1,100,000     1,800,000 4,400,000    
2023 Equity Inducement Plan                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Common stock, capital shares reserved for future issuance (in shares)                   5,000,000  
Number of shares issued (in shares) 0                    
At-The-Market Offering                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Sale of stock, aggregate offering amount, maximum $ 150.0 $ 150.0       $ 150.0 $ 150.0        
Sale of stock, number of shares issued in transaction (in shares)   0       1,100,000          
Sale of stock, consideration received on transaction, gross           $ 9.1          
Sale of stock, price per share (in dollars per share) $ 8.22 $ 8.22       $ 8.22 $ 8.22        
Sale of stock, amount remaining available for sale of shares $ 140.9 $ 140.9       $ 140.9 $ 140.9        
Restricted Stock Units                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Equity instruments other than options granted (in shares)             1,600,000        
Equity instruments other than options, forfeited in period (in shares)             700,000        
Restricted Stock Units | Tranche One                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting rights, percentage             33.33%        
Restricted Stock Units | Tranche Two                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting rights, percentage             33.33%        
Restricted Stock Units | Tranche Three                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting rights, percentage             33.33%        
Performance Shares                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Equity instruments other than options granted (in shares)             500,000        
Target payout percentage 100.00% 100.00%       100.00% 100.00%        
Maximum payout percentage 200.00% 200.00%       200.00% 200.00%        
Award vesting period             3 years        
Equity instruments other than options, forfeited in period (in shares)             300,000        
Stock Options | Tranche One                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting rights, percentage             33.33%        
Stock Options | Tranche Two                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting rights, percentage             33.33%        
Stock Options | Tranche Three                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting rights, percentage             33.33%