Revenue from contracts with customers - Revenue streams - Parenthetical (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Intersegment Transaction
Revenue From Contract With Customer Excluding Assessed Tax	$ 5.0	$ 4.1	$ 4.3

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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+ Details