We introduce a dust model for cosmological simulations implemented in the moving-mesh code AREPO and present a suite of cosmological hydrodynamical zoom-in simulations to study dust formation within galactic haloes. Our model accounts for the stellar production of dust, accretion of gas-phase metals onto existing grains, destruction of dust through local supernova activity, and dust driven by winds from star-forming regions. We find that accurate stellar and active galactic nuclei feedback is needed to reproduce the observed dust-metallicity relation and that dust growth largely dominates dust destruction. Our simulations predict a dust content of the interstellar medium which is consistent with observed scaling relations at $z = 0$, including scalings between dust-to-gas ratio and metallicity, dust mass and gas mass, dust-to-gas ratio and stellar mass, and dust-to-stellar mass ratio and gas fraction. We find that roughly two-thirds of dust at $z = 0$ originated from Type II supernovae, with the contribution from asymptotic giant branch stars below 20 per cent for $z gtrsim 5$. While our suite of Milky Way-sized galaxies forms dust in good agreement with a number of key observables, it predicts a high dust-to-metal ratio in the circumgalactic medium, which motivates a more realistic treatment of thermal sputtering of grains and dust cooling channels.
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