Impairment and restructuring charges - Schedule Restructuring and Related Costs (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	$ 17.1	$ (0.1)	$ 16.6	$ 9.6
R&D
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	5.4	(0.2)	5.3	2.5
Employee transition
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	0.2	0.0	0.2	0.3
Severance payments
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	14.8	0.1	14.3	8.8
Employee benefits
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	2.1	(0.2)	2.1	0.5
Total restructuring costs by segment
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	3.1	0.0	2.8	2.0
SG&A
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	8.6	0.1	8.5	5.1
Commercial Products \| Total restructuring costs by segment
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	0.0	0.0	0.0	0.0
MCM Products \| Total restructuring costs by segment
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	2.7	0.0	2.6	2.0
Services \| Total restructuring costs by segment
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	$ 0.4	$ 0.0	$ 0.2	$ 0.0