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Income taxes (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]          
Valuation allowance $ 94.0   $ 94.0   $ 93.0
Unrecognized tax benefits 10.9   10.9   $ 10.5
Unrecognized tax benefits, period increase (decrease) 0.2        
Reasonable possibility of future tax benefits 1.4   1.4    
Interest expense related to uncertain tax positions (less than) 40.0        
Accrued interest related to uncertain tax positions $ 0.5   $ 0.5    
Effective income tax rate 16.00% (11.00%) 16.00% 24.00%  
Hungary          
Operating Loss Carryforwards [Line Items]          
Hungary statutory tax rate     9.00%    
Foreign income tax benefit $ 1.9 $ 0.1 $ 2.2 $ 0.3  
Malaysia          
Operating Loss Carryforwards [Line Items]          
Income tax benefit of tax holiday, amount $ 0.6 $ 0.2 $ 0.9 $ 0.4  
Income tax benefit of tax holiday (in usd per share) $ 0.01   $ 0.01