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Segment information - Narrative (Details)
$ in Millions
3 Months Ended 12 Months Ended
Mar. 31, 2021
USD ($)
Dec. 31, 2022
USD ($)
country
segment
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Segment Reporting Information [Line Items]        
Number of countries in which the entity operates | country   100    
Number of operating segments | segment   4    
Change in allowance estimate | $   $ 22.3 $ 3.4 $ 14.6
North America        
Segment Reporting Information [Line Items]        
Change in allowance estimate | $ $ 12.3      
Subsidiaries        
Segment Reporting Information [Line Items]        
Number of countries in which the entity operates | country   53