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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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The charge against earnings resulting from the aggregate write down of tangible assets from their carrying value to their fair value.

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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

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