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Discontinued operations - Narrative (Details) - USD ($) $ in Millions |  | 12 Months Ended
--- | --- | ---
Mar. 13, 2020 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |
Cash purchase price |  | $ 0.0 | $ 0.0 | $ 1,162.9
Discontinued Operation, Disposed of by Sale | U.S. Federal Business |  |  |  |
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items] |  |  |  |
Cash purchase price | $ 1,200.0 |  |  |
Net cash proceeds of the sale (net of working capital adjustments and transaction costs) | $ 1,162.9 |  |  |

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