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Related party transactions (Details) (Affiliated Entity [Member], USD $)
In Millions, unless otherwise specified
12 Months Ended
Dec. 31, 2013
Dec. 31, 2012
Dec. 31, 2011
Affiliated Entity [Member]
     
Related Party Transaction [Line Items]      
Purchases of inventory and services $ 5.6 $ 5.1 $ 4.8
Proceeds from sale of equipment and services $ 1.1 $ 1.1 $ 4.0