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Accounts receivable (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Receivables [Abstract] |  |  |
Revenue recognized in excess of billings on services contracts or unbilled accounts receivable | $ 93.9 | $ 87.9 |
Unearned income | 9.0 | 13.9 |
Allowance for doubtful accounts | 9.5 | 9.1 |
Provision for doubtful accounts reported in selling, general and administrative expenses, (income) expense | (0.2) | 0.3 | $ (0.6)
Long-term receivables | $ 70.3 | $ 85.3 |

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