Fair value measurements - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Aug. 07, 2020
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Cost of goods and services sold, Research and development	Cost of goods and services sold, Research and development
Business combination, contingent consideration, liability, current	$ 3.4	$ 32.7
3.875% Senior Unsecured Notes due 2028 | Senior Notes
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Interest rate, stated percentage	3.875%	3.875%	3.875%
Long-term debt, fair value	$ 225.1	$ 433.3