Goodwill and other intangible assets - Narrative (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Goodwill and Intangible Assets Disclosure [Abstract]
Amortization expense	$ 10,100,000	$ 10,600,000	$ 20,300,000	$ 21,100,000
Impairment of goodwill	0	0	0	0
Impairment of intangible assets	$ 0	$ 0	$ 0	$ 0