Restructuring charges - Schedule of Restructuring Reserve by Type of Cost (Details) - USD ($) $ in Millions	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023
Restructuring Reserve [Roll Forward]
Segment restructuring costs	$ (0.5)	$ 9.7
January 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Beginning balance	1.4	0.0
Segment restructuring costs		9.7
Cash payments	(1.3)	(2.3)
Ending balance	0.1	7.4
August 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Beginning balance	5.4
Segment restructuring costs	(0.5)
Cash payments	(3.6)
Ending balance	1.3
Employee transition
Restructuring Reserve [Roll Forward]
Segment restructuring costs	0.0	0.3
Employee transition \| January 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Beginning balance	0.0	0.0
Segment restructuring costs		0.3
Cash payments	0.0	(0.2)
Ending balance	0.0	0.1
Employee transition \| August 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Beginning balance	0.0
Segment restructuring costs	0.0
Cash payments	0.0
Ending balance	0.0
Severance payments
Restructuring Reserve [Roll Forward]
Segment restructuring costs	(0.5)	8.7
Severance payments \| January 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Beginning balance	1.4	0.0
Segment restructuring costs		8.7
Cash payments	(1.3)	(2.0)
Ending balance	0.1	6.7
Severance payments \| August 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Beginning balance	5.3
Segment restructuring costs	(0.5)
Cash payments	(3.6)
Ending balance	1.2
Employee benefits
Restructuring Reserve [Roll Forward]
Segment restructuring costs	0.0	0.7
Employee benefits \| January 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Beginning balance	0.0	0.0
Segment restructuring costs		0.7
Cash payments	0.0	(0.1)
Ending balance	0.0	$ 0.6
Employee benefits \| August 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Beginning balance	0.1
Segment restructuring costs	0.0
Cash payments	0.0
Ending balance	$ 0.1

Amount of cash payments made as the result of exit or disposal activities. Excludes payments associated with a discontinued operation or an asset retirement obligation.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (b)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482017/420-10-50-1

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 230
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 17
-Subparagraph (f)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482740/230-10-45-17

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- Definition

Amount of expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses related to a discontinued operation or an asset retirement obligation.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 45
-Paragraph 28
-Subparagraph (b)
-SubTopic 10
-Topic 230
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482740/230-10-45-28

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 2
-Subparagraph (SAB Topic 5.P.4(b)(1))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479823/420-10-S99-2

Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 3
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482047/420-10-45-3

Reference 4: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 5.P.3)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479823/420-10-S99-1

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- Definition

Carrying amount (including both current and noncurrent portions of the accrual) as of the balance sheet date pertaining to a specified type of cost associated with exit from or disposal of business activities or restructuring pursuant to a duly authorized plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (b)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482017/420-10-50-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 2
-Subparagraph (SAB TOPIC 5.P.4(b)(2))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479823/420-10-S99-2

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- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

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