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Income taxes - Reconciliation of Changes in Unrecognized Tax Benefits (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] |  |  |
Balance at January 1 | $ 21.6 | $ 30.9 | $ 25.6
Additions based on tax positions related to the current year | 1.9 | 3.5 | 8.5
Changes for tax positions of prior years | 1.2 | (8.8) | (0.7)
Reductions as a result of a lapse of applicable statute of limitations | (5.4) | (2.6) | (2.3)
Settlements | 0.0 | (0.3) | (1.8)
Changes due to foreign currency | (1.5) | (1.1) | 1.6
Balance at December 31 | $ 17.8 | $ 21.6 | $ 30.9

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- Definition Unrecognized Tax Benefits, Increases (Decreases) Resulting From Current Period Tax Positions + References No definition available. + Details
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- Definition Unrecognized Tax Benefits, Increases (Decreases) Resulting From Foreign Currency Translation + References No definition available. + Details
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- Definition Unrecognized Tax Benefits, Increases (Decreases) Resulting from Prior Period Tax Positions + References No definition available. + Details
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- Definition A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period. + References No definition available. + Details
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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 45 -Paragraph 10B -URI https://asc.fasb.org/extlink&oid=123427490&loc=SL37586934-109318 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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- Definition Amount of decrease in unrecognized tax benefits resulting from settlements with taxing authorities. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a)(3) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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- Definition Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a)(4) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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