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Stockholders' equity - Changes in Common Stock and Treasury Stock (Details) - shares shares in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Common Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning Balance (in shares)	72.5	66.8	65.9
Stock-based compensation (in shares)	0.8	1.1	0.9
Debt exchange (in shares)		4.6
Ending Balance (in shares)	73.3	72.5	66.8
Treasury Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning Balance (in shares)	5.3	3.8	3.5
Stock-based compensation (in shares)	0.2	0.3	0.3
Debt exchange (in shares)		1.2
Ending Balance (in shares)	5.5	5.3	3.8

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Number of shares of stock issued as of the balance sheet date, including shares that had been issued and were previously outstanding but which are now held in the treasury.

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Number of shares issued during the period as a result of the conversion of convertible securities.

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Number, after forfeiture, of shares or units issued under share-based payment arrangement. Excludes shares or units issued under employee stock ownership plan (ESOP).

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