Financial instruments and concentration of credit risks - Gains and Losses Recognized on Foreign Exchange Forward Contracts (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Other (expense), net \| Foreign Exchange Forward Contract
Fair Value, Measured on Recurring Basis, Gain (Loss) Included in Earnings [Line Items]
Amount of gain (loss) recognized	$ 13.5	$ (39.3)	$ (18.8)

Total amount of gain (loss) derived from fair value hedges recognized in earnings in the period.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4C
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480434/815-10-50-4C

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration