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Stock-based compensation (Tables)
 12 Months Ended
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]  
Schedule of components of stock-based compensation expense The following table presents components of stock-based compensation expense:
(in millions)
Classification
Year ended December 31,
202220212020
Stock optionsEquity$16.0 $18.8 $16.9 
RSUsEquity31.7 26.8 23.8 
Optionholder awardsLiability— — 0.6 
OtherBoth(1.9)5.1 2.8 
Total$45.8 $50.7 $44.1 
Award classification:
Equity$49.1 $47.7 $42.2 
Liability(3.3)3.0 1.9 
Schedule of information about outstanding stock options The following table presents information about outstanding stock options:
(options and intrinsic value in millions)
Number of options
Weighted average exercise price per optionAggregate intrinsic valueWeighted average remaining term
Balance on December 31, 202116.3 $19.83 
Granted1.3 31.52 
Exercised(0.7)16.92 
Forfeited(0.8)20.22 
Balance on December 31, 202216.1 $20.90 $41.2 6.1 years
Expected to vest4.6 23.35 10.0 7.9 years
Vested11.5 19.93 31.2 5.4 years
Schedule of weighted-average information about stock options granted The following table presents weighted-average information about stock options granted:
Year ended December 31,
202220212020
Grant date fair value per option$11.09$8.63$5.43
Assumptions used to determine grant date fair value:
Expected stock price volatility31 %29 %28 %
Risk free interest rate2.2 %1.1 %1.4 %
Expected dividend ratenilnilnil
Expected life of options6.3 years6.3 years6.2 years
Schedule of other information about stock options The following table presents other information about stock options:
(in millions)
Year ended December 31,
202220212020
Fair value of options vested$15.4 $17.2 $12.0 
Intrinsic value of options exercised10.1 74.9 100.8 
Schedule of information about unvested RSUs The following table presents information about unvested RSUs:
(awards in millions)
Number of awardsWeighted average grant date fair value per award
Balance on December 31, 20214.4 $19.52 
Granted1.1 33.02 
Vested(1.1)18.95 
Forfeited(0.2)26.73 
Balance on December 31, 20224.2 $24.29