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Income taxes (Tables)
6 Months Ended
Jun. 30, 2021
Income Tax Disclosure [Abstract]  
Schedule of Components of Income Tax Expense (Benefit)
Three Months Ended June 30,Six Months Ended June 30,
 2021202020212020
Continuing operations    
Provision (benefit) for income taxes (in millions)$22.7 (43.2)$36.3 (55.4)
Effective tax rate45.7 %158.8 %46.1 %151.4 %