Intangible assets and goodwill - Summary Changes in Goodwill (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Goodwill and Intangible Assets Disclosure [Abstract]
Goodwill, beginning balance	$ 224,900,000	$ 266,700,000
Goodwill impairment	(6,700,000)	(41,700,000)	$ 0
Foreign currency translation adjustment	0	(100,000)
Goodwill, ending balance	218,200,000	224,900,000	266,700,000
Products
Goodwill and Intangible Assets Disclosure [Abstract]
Goodwill, beginning balance	218,200,000	260,000,000.0
Goodwill impairment	0	(41,700,000)
Foreign currency translation adjustment	0	(100,000)
Goodwill, ending balance	218,200,000	218,200,000	260,000,000.0
Goodwill [Roll Forward]
Goodwill, gross	259,900,000	259,900,000	260,000,000
Goodwill, accumulated Impairment loss	41,700,000
Services
Goodwill and Intangible Assets Disclosure [Abstract]
Goodwill, beginning balance	6,700,000	6,700,000
Goodwill impairment	(6,700,000)	0
Foreign currency translation adjustment	0	0
Goodwill, ending balance	0	6,700,000	6,700,000
Goodwill [Roll Forward]
Goodwill, gross	6,700,000	$ 6,700,000	$ 6,700,000
Goodwill, accumulated Impairment loss	$ 6,700,000