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Revenue recognition - Narrative (Details) - USD ($)
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Disaggregation of Revenue [Line Items]      
Revenue, remaining performance obligation, amount $ 279,300,000    
Contract with customer, asset, noncurrent 29,500,000   $ 21,900,000
Current portion of contract liabilities $ 5,500,000   $ 27,200,000
Non-USG      
Disaggregation of Revenue [Line Items]      
Lessee, operating lease, remaining lease term 4 years 9 months 18 days    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01      
Disaggregation of Revenue [Line Items]      
Revenue, remaining performance obligation, amount $ 273,500,000    
Revenue, remaining performance obligation, expected timing of satisfaction, period 24 months    
Leases      
Disaggregation of Revenue [Line Items]      
Leases $ 200,000 $ 1,800,000  
Lessor, operating lease, payment to be received, remainder of fiscal year 600,000    
Lessor, operating lease, payment to be received, year one 800,000    
Lessor, operating lease, payment to be received, year two 900,000    
Lessor, operating lease, payment to be received, year three 900,000    
Lessor, operating lease, payment to be received, year four 900,000    
Lessor, operating lease, payment to be received, after year four $ 0