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Income taxes - Tax Loss Carryforwards (Details) - USD ($)
$ in Millions
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]    
U.S. Federal $ 378.6  
State and local 178.0  
Foreign 268.9  
Total tax loss carryforwards 825.5 $ 840.4
Operating Loss Carryforwards [Line Items]    
Tax loss carryforwards, not set to expire 275.3  
Total tax loss carryforwards 825.5 $ 840.4
2023    
Operating Loss Carryforwards [Line Items]    
Tax loss carryforwards, set to expire 13.2  
2024    
Operating Loss Carryforwards [Line Items]    
Tax loss carryforwards, set to expire 12.7  
2025    
Operating Loss Carryforwards [Line Items]    
Tax loss carryforwards, set to expire 19.5  
2026    
Operating Loss Carryforwards [Line Items]    
Tax loss carryforwards, set to expire 10.7  
2027    
Operating Loss Carryforwards [Line Items]    
Tax loss carryforwards, set to expire 59.9  
Thereafter    
Operating Loss Carryforwards [Line Items]    
Tax loss carryforwards, set to expire $ 434.2