Segment information - Reconciliation of Segment Operating Income to Consolidated Income Before Income Taxes (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting, Reconciling Item for Operating Profit (Loss) from Segment to Consolidated [Line Items]
Gross profit	$ 551.3	$ 529.6	$ 572.0
Selling, general and administrative expense	(450.3)	(453.2)	(389.5)
Research and development expense	(24.1)	(24.2)	(28.5)
Interest expense	(30.8)	(32.4)	(35.4)
Other (expense), net	(393.9)	(82.4)	(580.3)
Loss before income taxes	(347.8)	(62.6)	(461.7)
Operating Segments
Segment Reporting, Reconciling Item for Operating Profit (Loss) from Segment to Consolidated [Line Items]
Gross profit	554.7	550.8	562.3
Segment Reconciling Items
Segment Reporting, Reconciling Item for Operating Profit (Loss) from Segment to Consolidated [Line Items]
Gross profit	(3.4)	(21.2)	9.7
Selling, general and administrative expense	(450.3)	(453.2)	(389.5)
Research and development expense	(24.1)	(24.2)	(28.5)
Interest expense	(30.8)	(32.4)	(35.4)
Other (expense), net	$ (393.9)	$ (82.4)	$ (580.3)