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Summary of significant accounting policies - Additional Information (Details) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2018 USD ($) institution | Dec. 31, 2017 USD ($) | Dec. 31, 2016 USD ($)
Property, Plant and Equipment [Line Items] |  |  |
Advertising costs incurred | $ 2.8 | $ 1.6 | $ 2.7
Remaining performance obligations | 1,200.0 |  |
Long-term contract assets | 22.2 |  |
Deposit liabilities | 21.2 |  |
Revenue recognized, previously included in deferred revenue | 307.1 |  |
Amortization of costs to fulfill contracts | 21.7 |  |
Costs to fulfill contract, net | $ 79.5 | 76.0 |
Estimated revenue-producing lives of computer software products from the date of release | 3 years |  |
Period of recognition in changes in fair value of plan assets | 4 years |  |
Intelligent Processing Solutions Ltd. |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Percentage of ownership interest | 51.00% |  |
Number of financial institutions that own remaining interests for which iPSL performs services | institution | 3 |  |
Sales Commissions |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Deferred commissions | $ 12.1 | $ 11.0 |
Amortization of costs to fulfill contracts | $ 6.9 |  |
Minimum | Technology |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Period over which payment is generally received for contracts | 30 days |  |
Maximum | Technology |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Period over which payment is generally received for contracts | 60 days |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2019-01-01 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Remaining performance obligation, percent to be recognized as revenue | 40.00% |  |
Period over which remaining performance obligations are expected to be recognized as revenue | 1 year |  |
Buildings | Minimum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 20 years |  |
Buildings | Maximum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 50 years |  |
Machinery and office equipment | Minimum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 4 years |  |
Machinery and office equipment | Maximum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 7 years |  |
Rental equipment |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 4 years |  |
Internal-use software | Minimum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 3 years |  |
Internal-use software | Maximum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 10 years |  |

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