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Restructuring charges - Schedule Restructuring and Related Costs (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs $ (0.5) $ 9.7
R&D    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs (0.1) 2.7
Employee transition    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs 0.0 0.3
Severance payments    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs (0.5) 8.7
Employee benefits    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs 0.0 0.7
Total restructuring costs by segment    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs (0.3) 2.0
Total restructuring costs by segment | Commercial Products    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs 0.0 0.0
Total restructuring costs by segment | MCM Products    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs (0.1) 2.0
Total restructuring costs by segment | Services    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs (0.2) 0.0
SG&A    
Restructuring Cost and Reserve [Line Items]    
Segment restructuring costs $ (0.1) $ 5.0