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Discontinued operations - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Mar. 13, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]        
Cash purchase price   $ 0.0 $ 0.0 $ 1,162.9
Discontinued Operation, Disposed of by Sale | U.S. Federal Business        
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]        
Cash purchase price $ 1,200.0      
Net cash proceeds of the sale (net of working capital adjustments and transaction costs) $ 1,162.9