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Summary of significant accounting policies - Research and development incentives and receivable (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Research and development incentives and receivable      
Maximum percentage of surrenderable losses 14.50%    
Reduction of research and development $ 19.3 $ 10.8 $ 8.4