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Share-based compensation and stockholders' equity - Tax Effects Related to Each Component of Accumulated Other Comprehensive (Loss) Income (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Pretax $ (11.0) $ 23.9 $ 12.0
Tax Benefit (Expense) 2.2 (4.7) (2.8)
Total other comprehensive income (loss), net of tax (8.8) 19.2 9.2
Defined Benefit Pension Plan      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Pretax (4.1) 8.7 4.3
Tax Benefit (Expense) 0.6 (1.2) (0.6)
Total other comprehensive income (loss), net of tax (3.5) 7.5 3.7
Derivative Instruments      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Pretax (8.5) 14.6 8.9
Tax Benefit (Expense) 2.3 (3.9) (2.4)
Total other comprehensive income (loss), net of tax (6.2) 10.7 6.5
Foreign Currency Translation Adjustments      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Pretax 1.6 0.6 (1.2)
Tax Benefit (Expense) (0.7) 0.4 0.2
Total other comprehensive income (loss), net of tax $ 0.9 $ 1.0 $ (1.0)