Warranty reserve liability - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Guarantees and Product Warranties [Abstract]
Immaterial reclassifications	$ 1.6	$ 1.1

Amount of increase (decrease) in the standard product warranty accrual from changes in estimates attributable to preexisting product warranties. Excludes extended product warranties.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 460
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Subparagraph (c)(4)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482425/460-10-50-8

Name:	us-gaap_StandardProductWarrantyAccrualPreexistingIncreaseDecrease
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration