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Financial instruments and concentration of credit risks - Fair Value of Foreign Exchange Forward Contracts by Balance Sheet Location (Details) - Foreign Exchange Forward Contract - Level 2 - USD ($)
$ in Millions
Dec. 31, 2022
Dec. 31, 2021
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Prepaid expenses and other current assets $ 7.9 $ 3.6
Other accrued liabilities 1.3 2.1
Total fair value $ 6.6 $ 1.5