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Property, plant and equipment (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Property, plant and equipment      
Property, plant and equipment, gross $ 1,150.7 $ 938.2  
Accumulated depreciation (445.2) (388.3)  
Property, plant and equipment, net 705.5 549.9  
Depreciation 88.4 87.9 $ 86.6
Buildings and related improvements      
Property, plant and equipment      
Property, plant and equipment, gross 384.3 359.2  
Machinery, equipment and other      
Property, plant and equipment      
Property, plant and equipment, gross 479.5 376.3  
Software      
Property, plant and equipment      
Property, plant and equipment, gross 122.3 106.7  
Land      
Property, plant and equipment      
Property, plant and equipment, gross 67.7 47.1  
Assets not yet placed into service      
Property, plant and equipment      
Property, plant and equipment, gross $ 96.9 $ 48.9