Revenue recognition - Schedule of Revenue Recognized According Performance Period (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Net revenues	$ 509,338	$ 537,840	$ 535,031
Reporting period
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Net revenues	492,089	480,266	508,337
Previous periods
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Net revenues	$ 17,249	$ 57,574	$ 26,694