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Income taxes - Narrative (Details) - USD ($)	12 Months Ended
	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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Amount of decrease reasonably possible in the next twelve months for the unrecognized tax benefit.

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-Publisher FASB
-Name Accounting Standards Codification
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Amount of deferred tax liability not recognized because of the exceptions to comprehensive recognition of deferred taxes related to undistributed earnings of foreign subsidiaries.

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-Publisher FASB
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The amount of estimated penalties and interest accrued as of the balance sheet date arising from income tax examinations.

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