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Income taxes (Tables)
6 Months Ended
Jun. 30, 2022
Income Tax Disclosure [Abstract]  
Schedule of Components of Income Tax Expense (Benefit)
Three Months Ended June 30,Six Months Ended June 30,
 2022202120222021
Continuing operations    
Provision (benefit) for income taxes (in millions)$29.3 22.7 $(11.8)36.3 
Effective tax rate43.4 %45.7 %(11.7 %)46.1 %