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Commitments and contingencies - Future minimum rental commitments (Details) - USD ($)
$ in Millions
Dec. 31, 2022
Dec. 31, 2021
Commitments and Contingencies Disclosure [Abstract]    
2023 $ 9.2  
2024 5.9  
2025 4.6  
2026 3.7  
2027 and thereafter 9.7  
Total future annual minimum rental payments 33.1  
Less: present value discount (2.8)  
Total lease liability $ 30.3 $ 32.5