Restructuring and impairment charges - Expected costs to be incurred (Details) $ in Millions	3 Months Ended
	Mar. 31, 2024 USD ($)
2023 Restructuring plan
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	$ 12.7
Expected cash outlays	0.0
Restructuring reserve	7.8
Restructuring expenses	0.8
Aggregate restructuring related charges	1.5
2023 Restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	15.0
2023 Restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	19.0
2023 Footprint realignment plan
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	1.6
Restructuring reserve	1.5
Restructuring expenses	0.5
Aggregate restructuring related charges	0.6
2023 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	11.0
Expected cash outlays	2.0
2023 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	15.0
Expected cash outlays	3.0
Special Termination Benefit And Other Restructuring | 2023 Restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	12.0
Special Termination Benefit And Other Restructuring | 2023 Restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	15.0
Special Termination Benefit And Other Restructuring | 2023 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	4.0
Special Termination Benefit And Other Restructuring | 2023 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	6.0
Accelerated Depreciation And Other Costs | 2023 Restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	3.0
Accelerated Depreciation And Other Costs | 2023 Restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	4.0
Accelerated Depreciation And Other Costs | 2023 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	7.0
Accelerated Depreciation And Other Costs | 2023 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	$ 9.0