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Long-lived asset impairment and restructuring charges - Schedule Restructuring and Related Costs (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]      
Restructuring charges $ 29.3    
R&D      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 3.6    
Employee Transition      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 0.6    
Severance Payments      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 27.0    
Employee Benefits      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 1.7    
Operating Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 14.0 $ 0.0 $ 0.0
Operating Segments | Commercial Products      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 0.0    
Operating Segments | MCM Products      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 5.6    
Operating Segments | Services      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 8.4    
Corporate      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges $ 11.7