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Revenue recognition - Narrative (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Disaggregation of Revenue [Line Items]          
Revenue, remaining performance obligation, amount $ 383,700,000   $ 383,700,000    
Contract with customer, asset, noncurrent 8,000,000.0   8,000,000.0   $ 21,900,000
Current portion of contract liabilities $ 6,200,000   $ 6,200,000   $ 27,200,000
Non-USG          
Disaggregation of Revenue [Line Items]          
Lessee, operating lease, remaining lease term 4 years 6 months   4 years 6 months    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01          
Disaggregation of Revenue [Line Items]          
Revenue, remaining performance obligation, amount $ 361,300,000   $ 361,300,000    
Revenue, remaining performance obligation, expected timing of satisfaction, period 24 months   24 months    
Leases          
Disaggregation of Revenue [Line Items]          
Leases $ 200,000 $ 2,700,000 $ 400,000 $ 4,500,000  
Lessor, operating lease, payment to be received, remainder of fiscal year 400,000   400,000    
Lessor, operating lease, payment to be received, year one 800,000   800,000    
Lessor, operating lease, payment to be received, year two 900,000   900,000    
Lessor, operating lease, payment to be received, year three 900,000   900,000    
Lessor, operating lease, payment to be received, year four 900,000   900,000    
Lessor, operating lease, payment to be received, after year four $ 0   $ 0