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Income taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Tax Credit Carryforward [Line Items] |  |  |
Increase (decrease) in valuation allowance | $ (45,300,000) | $ (253,200,000) |
Changes in deferred tax assets, net tax expense (benefit) | (800,000) | 2,900,000 | $ (2,300,000)
Provision for income taxes that may become payable upon distribution of earnings of certain foreign subsidiaries | 0 |  |
Unrecognized deferred income tax liability | 28,000,000 |  |
Penalties and interest accrued related to income tax liabilities | 3,800,000 | 3,900,000 |
Reasonably possible decrease in amount of unrecognized tax benefits | 1,900,000 |  |
Utilization of tax attributes, annual limitation | 70,600,000 |  |
Utilization of tax attributes, cumulative limitation | 462,400,000 |  |
Recognition of net income tax benefit |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Increase (decrease) in valuation allowance | 102,100,000 | (189,000,000) |
Expired net operating losses/tax credits |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Increase (decrease) in valuation allowance | (50,000,000) | (28,900,000) |
Translation adjustments |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Increase (decrease) in valuation allowance | (18,400,000) | 20,900,000 |
Other activity |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Increase (decrease) in valuation allowance | $ (79,000,000) | $ (56,200,000) |
Minimum |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Expected change in ownership percentage | 50.00% |  |

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- Definition Amount of decrease reasonably possible in the next twelve months for the unrecognized tax benefit. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (d)(3) -URI http://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition The amount of estimated penalties and interest accrued as of the balance sheet date arising from income tax examinations. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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