Equity - Non-controlling interest (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Noncontrolling Interest [Line Items]
Change in non-controlling interest	$ 0	$ (871)	$ (25,492)
2018-C
Noncontrolling Interest [Line Items]
Issuance of non-controlling interest in subsidiaries	0	0	(8,306)
2017-D
Noncontrolling Interest [Line Items]
Issuance of non-controlling interest in subsidiaries	$ 0	$ (871)	$ (17,186)

Amount of increase in noncontrolling interest from subsidiary issuance of equity interests to noncontrolling interest holders.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 810
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 23
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481231/810-10-45-23

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 505
-SubTopic 10
-Section S99
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480008/505-10-S99-1

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 50
-Paragraph 1A
-Subparagraph (c)(2)
-SubTopic 10
-Topic 810
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481203/810-10-50-1A

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