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Fair value measurement - Narrative (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
investment
Dec. 31, 2021
USD ($)
investment
Dec. 31, 2020
USD ($)
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Increase in the fair value of the debt security   $ 20,800  
Available-for-sale debt security $ 0 23,800  
Hedge funds redemption period 95 days    
Future funding commitments $ 700 700  
Hedge funds redemption potential holdback percentage 5.00%    
Investment One      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Equity investments, impairment loss $ 2,500    
Recorded gains   1,900  
Different investment      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Equity investments, impairment loss   1,900  
Level 3 | One Investment      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Equity investments, impairment loss $ 2,500    
Level 2 | Investment One      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Equity investments, impairment loss   1,900 $ 9,200
Recorded gains   $ 1,900  
Partnership/joint venture interests      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Number of investments held in collective trusts | investment   2  
Hedge funds redemption period 30 days    
Redemption fee (as a percent) 0.45%    
Common collective trust | Fair Value Measured at Net Asset Value Per Share | Retirement Plans      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Number of investments held in collective trusts | investment 5    
Common collective trust - fixed income | Fair Value Measured at Net Asset Value Per Share | Retirement Plans      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Number of investments held in collective trusts | investment 4    
Fair Value | Level 2      
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]      
Fair value of long-term debt $ 2,950,000 $ 3,400,000