Impairment and restructuring charges - Schedule Restructuring and Related Costs (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	$ 6.3	$ 20.3	$ 22.9	$ 29.9
R&D
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	0.6	0.9	5.9	3.4
Employee transition
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	0.1	0.3	0.3	0.6
Severance payments
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	5.0	17.9	19.3	26.6
Employee benefits
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	1.2	2.1	3.3	2.7
Total restructuring costs by segment
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	5.0	13.1	7.8	15.1
SG&A
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	0.7	6.3	9.2	11.4
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	4.9	5.0	7.5	7.0
Services \| Total restructuring costs by segment
Restructuring Cost and Reserve [Line Items]
Segment restructuring costs	$ 0.1	$ 8.1	$ 0.3	$ 8.1