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Income taxes - Narrative (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Contingency [Line Items]        
Valuation allowance increase, including CTA component $ 192.7      
Deferred tax liabilities, foreign withholding tax 5.5 $ 4.7    
Valuation allowance increase $ 192.7      
Effective income tax rate reconciliation, percent (4.00%) 3.00% 28.00%  
Unrecognized tax benefits, noncurrent $ 6.6 $ 6.8    
Gross unrecognized tax benefits 6.6 6.8 $ 12.7 $ 12.2
Unrecognized tax benefits, reduction resulting from lapse of applicable statute of limitations 0.7 5.1 0.0  
Accrued income tax penalties and interest 1.6 1.6    
Interest and penalties expense (benefit) 0.2 $ (2.1) $ 1.1  
Domestic Tax Authority        
Income Tax Contingency [Line Items]        
Operating loss carryforwards 279.3      
Operating loss carryforwards, subject to expiration 36.0      
Operating loss carryforwards, not subject to expiration 243.3      
Tax credit carryforward, amount 16.9      
State and Local Jurisdiction | California        
Income Tax Contingency [Line Items]        
Operating loss carryforwards 667.6      
State and Local Jurisdiction | Research Tax Credit Carryforward        
Income Tax Contingency [Line Items]        
Tax credit carryforward, amount 5.0      
Foreign Tax Authority        
Income Tax Contingency [Line Items]        
Operating loss carryforwards $ 55.7