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Summary of significant accounting policies - Going Concern (Details)
$ in Millions
1 Months Ended
Dec. 31, 2023
USD ($)
May 15, 2023
USD ($)
Aug. 31, 2023
employee
Jan. 31, 2023
employee
Dec. 31, 2022
USD ($)
Aug. 07, 2020
USD ($)
Debt Instrument [Line Items]            
Long-term debt $ 868.4       $ 1,413.8  
Cash and cash equivalents 111.7       642.6  
January 2023 Restructuring Plan            
Debt Instrument [Line Items]            
Restructuring and related cost, number of positions eliminated | employee       125    
August 2023 Restructuring Plan            
Debt Instrument [Line Items]            
Restructuring and related cost, number of positions eliminated | employee     400      
Revolving Credit Facility | Credit Agreement Amendment            
Debt Instrument [Line Items]            
Debt instrument, periodic payment, principal   $ 3.9        
Term Loan Facility | Credit Agreement Amendment            
Debt Instrument [Line Items]            
Debt instrument, covenant, consideration threshold 75.0 $ 75.0        
Outstanding credit facility 417.4          
Line of Credit            
Debt Instrument [Line Items]            
Long-term debt 219.2       598.0  
Term Loan | Revolving Credit Facility            
Debt Instrument [Line Items]            
Long-term debt 198.2       362.8  
Senior Notes | 3.875% Senior Unsecured Notes due 2028            
Debt Instrument [Line Items]            
Long-term debt $ 450.0       $ 450.0 $ 450.0
Interest rate, stated percentage 3.875%       3.875% 3.875%