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Supplementary balance sheet information - Additional information (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Property, Plant and Equipment [Line Items] |  |  |
Tangible asset impairment charges |  | $ 0.0 | $ 0.0
Graphic Arts |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Tangible asset impairment charges | $ 12.7 |  |
Graphic Arts | Property, Plant and Equipment |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Tangible asset impairment charges | 11.1 |  |
Graphic Arts | Operating lease right of use assets |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Tangible asset impairment charges | $ 1.6 |  |

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- Definition The charge against earnings resulting from the aggregate write down of tangible assets from their carrying value to their fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 360 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482099/360-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 205 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147483499/205-20-50-1 + Details
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