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Cost-reduction actions - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |
Cost-reduction charges and other costs | $ 9.3 | $ 54.9 | $ 23.2
Charges (credits) related to work-force reductions | 8.3 | 7.5 | 0.4
Other charges related to the cost-reduction effort | 1.0 | 47.4 | 22.8
Employee severance |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Cost-reduction charges and other costs | 15.2 | 7.1 | 12.3
Charges (credits) related to work-force reductions | 15.2 | 7.1 | 12.3
Changes in estimates |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Charges (credits) related to work-force reductions | (6.9) | 0.4 | (11.9)
Professional fees |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | 4.7 |  |
Foreign currency (gains) losses related to exiting foreign countries |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort | $ (3.7) | 2.9 | 4.0
Asset held-for-sale |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort |  | 13.6 |
Asset impairments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort |  | 10.9 | 12.6
Facility lease cost |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort |  | 11.3 |
Contract exit costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort |  | 9.3 |
Other expenses |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Other charges related to the cost-reduction effort |  | $ (0.6) | $ 6.2

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