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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