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Stockholders' equity - Changes in Common Stock and Treasury Stock (Details) - shares shares in Millions | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Common Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Beginning Balance (in shares) | 66.8 | 65.9 | 54.2
Debt exchange (in shares) | 4.6 |  | 10.6
Stock-based compensation (in shares) | 1.1 | 0.9 | 1.1
Ending Balance (in shares) | 72.5 | 66.8 | 65.9
Treasury Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Beginning Balance (in shares) | 3.8 | 3.5 | 3.1
Debt exchange (in shares) | 1.2 |  | 0.0
Stock-based compensation (in shares) | 0.3 | 0.3 | 0.4
Ending Balance (in shares) | 5.3 | 3.8 | 3.5

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