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Leases and commitments - Components of Lease Expense (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Leases [Abstract]      
Operating lease cost $ 39.7 $ 42.3 $ 37.9
Finance lease cost      
Amortization of right-of-use assets 1.8 1.7 1.6
Interest on lease liabilities 0.1 0.2 0.3
Total finance lease cost 1.9 1.9 1.9
Short-term lease costs 0.9 1.4 0.6
Variable lease cost 11.5 10.3 13.7
Sublease income (4.4) (12.1) (0.7)
Total lease cost $ 49.6 $ 43.8 $ 53.4