Goodwill and other intangible assets - Narrative (Details) $ in Millions	9 Months Ended
Sep. 30, 2023 USD ($)
Goodwill and Intangible Assets Disclosure [Abstract]
Decrease in accumulated amortization	$ 111.5
Decrease in gross intangible assets	$ 111.5

Amount of increase (decrease) in carrying value of assets, excluding financial assets and goodwill, lacking physical substance with a finite life.

No definition available.

Name:	us-gaap_FiniteLivedIntangibleAssetsPeriodIncreaseDecrease
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	na
Period Type:	duration