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Income taxes - Reconciliation of Changes in Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	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

X

- Definition

Unrecognized Tax Benefits, Increases (Decreases) Resulting From Current Period Tax Positions

+ References

No definition available.

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- Definition

Unrecognized Tax Benefits, Increases (Decreases) Resulting From Foreign Currency Translation

+ References

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- Definition

Unrecognized Tax Benefits, Increases (Decreases) Resulting from Prior Period Tax Positions

+ References

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X

- 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.

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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

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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

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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

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