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Critical accounting estimates and judgements - Revenue recognition (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Critical accounting estimates and judgements      
Percentage Of Reasonably Possible Increase (Decrease) In Management's Estimate of Variable Consideration 10.00%    
Increase (decrease) in revenue as a result of reasonably possible increase (decrease) in management's estimate of variable consideration $ 17.4 $ 16.8 $ 14.2
Percentage Of Reasonably Possible Increase (Decrease) In Management's Estimate of Amount of Accrued Revenue 20.00%    
Increase (decrease) in revenue as a result of reasonably possible increase (decrease) in management's estimate amount of accrued revenue $ 4.4 $ 5.0 $ 3.3