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Financial instruments - Additional information (Details)
€ in Millions
3 Months Ended
Feb. 26, 2024
USD ($)
counterparty
agreement
Mar. 31, 2024
USD ($)
Apr. 02, 2023
USD ($)
Jun. 30, 2024
agreement
Feb. 26, 2024
EUR (€)
counterparty
agreement
Dec. 31, 2023
USD ($)
counterparty
Dec. 31, 2023
EUR (€)
counterparty
Dec. 31, 2019
USD ($)
counterparty
Dec. 31, 2019
EUR (€)
counterparty
Derivatives Fair Value [Line Items]                  
Allowance for credit losses   $ 9,300,000       $ 9,500,000      
Allowance for credit losses, current   5,600,000       5,500,000      
Subsequent event                  
Derivatives Fair Value [Line Items]                  
Number of agreements terminated | agreement       2          
Cash flow hedging                  
Derivatives Fair Value [Line Items]                  
Ineffectiveness related to derivatives   0 $ 0            
Foreign exchange contract | Not designated as hedging instrument                  
Derivatives Fair Value [Line Items]                  
Gains (losses) on derivatives   3,600,000              
Total notional amount for all open foreign currency forward contracts   $ 181,500,000       195,000,000      
Derivative, term of contract   12 months              
Foreign exchange contract | Designated as hedging instrument | Cash flow hedging                  
Derivatives Fair Value [Line Items]                  
Total notional amount for all open foreign currency forward contracts   $ 318,600,000       234,100,000      
Cross-currency interest rate swaps | Designated as hedging instrument                  
Derivatives Fair Value [Line Items]                  
Total notional amount for all open foreign currency forward contracts           $ 500,000,000      
Derivative, number of counterparties | counterparty           6 6 5 5
Proceeds from derivative instrument, investing activities $ 12,100,000                
Number of new agreements | agreement 2       2        
Cross-currency interest rate swaps | Designated as hedging instrument | Short                  
Derivatives Fair Value [Line Items]                  
Total notional amount for all open foreign currency forward contracts           $ 500,000,000   $ 250,000,000  
Derivative, fixed interest rate           4.63% 4.63% 4.88% 4.88%
Cross-currency interest rate swaps | Designated as hedging instrument | Long                  
Derivatives Fair Value [Line Items]                  
Total notional amount for all open foreign currency forward contracts | €             € 474.7   € 219.2
Derivative, fixed interest rate           3.05% 3.05% 2.46% 2.46%
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument                  
Derivatives Fair Value [Line Items]                  
Derivative, number of counterparties | counterparty 5       5        
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument | Short                  
Derivatives Fair Value [Line Items]                  
Total notional amount for all open foreign currency forward contracts $ 250,000,000                
Derivative, fixed interest rate 4.25%       4.25%        
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument | Long                  
Derivatives Fair Value [Line Items]                  
Total notional amount for all open foreign currency forward contracts | €         € 230.6        
Derivative, fixed interest rate 2.78%       2.78%        
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument                  
Derivatives Fair Value [Line Items]                  
Derivative, number of counterparties | counterparty 4       4        
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument | Short                  
Derivatives Fair Value [Line Items]                  
Total notional amount for all open foreign currency forward contracts $ 250,000,000                
Derivative, fixed interest rate 4.25%       4.25%        
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument | Long                  
Derivatives Fair Value [Line Items]                  
Total notional amount for all open foreign currency forward contracts | €         € 230.4        
Derivative, fixed interest rate 2.89%       2.89%