Segment information - Reconciliation of Segment Operating Income to Consolidated Income Before Income Taxes (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Segment Reporting, Reconciling Item for Operating Profit (Loss) from Segment to Consolidated [Line Items]
Gross profit	$ 529.6	$ 572.0	$ 483.0
Selling, general and administrative expense	(453.2)	(389.5)	(369.4)
Research and development expense	(24.2)	(28.5)	(26.6)
Interest expense	(32.4)	(35.4)	(29.2)
Other (expense), net	(82.4)	(580.3)	(329.6)
Total loss from continuing operations before income taxes	(62.6)	(461.7)	(271.8)
Operating Segments
Segment Reporting, Reconciling Item for Operating Profit (Loss) from Segment to Consolidated [Line Items]
Gross profit	550.8	562.3	458.6
Other gross profit (loss)
Segment Reporting, Reconciling Item for Operating Profit (Loss) from Segment to Consolidated [Line Items]
Gross profit	(21.2)	9.7	24.4
Interest expense	(32.4)	(35.4)	(29.2)
Other (expense), net	$ (82.4)	$ (580.3)	$ (329.6)