Shareholders' equity - Narrative (Details) - USD ($)	1 Months Ended	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Apr. 30, 2020	May 04, 2010
Stockholders Equity Note [Line Items]
Common stock, authorized (in shares)		800,000,000	800,000,000
Preferred stock, authorized (in shares)		2,000,000	2,000,000
Common stock, outstanding (in shares)		223,400,000	221,400,000
Treasury stock (in shares)		100,970,426	103,012,455
Preferred stock, issued (in shares)		0	0
Preferred stock, outstanding (in shares)		0	0
Shares approved to be repurchased under share repurchase program, amount (up to)	$ 300,000,000			$ 300,000,000
Share repurchase program period (in years)	3 years
Shares repurchased under share repurchase program (in shares)		0	0	0
Stock options | Employee
Stockholders Equity Note [Line Items]
Shares reserved for issuance (in shares)					20,000,000	60,000,000
RSU Program | Employee
Stockholders Equity Note [Line Items]
Number of shares of common stock received for each RSU granted		1
Award vesting percentage		25.00%
RSUs
Stockholders Equity Note [Line Items]
Unrecognized compensation cost related to non-vested share-based compensation		$ 26,700,000
Unrecognized compensation cost related to non-vested share-based compensation for options, recognition period		2 years 4 months 24 days
PSAs
Stockholders Equity Note [Line Items]
Award vesting period		2 years
Additional service period		1 year
Incentive period		3 years
Unrecognized compensation cost related to non-vested share-based compensation		$ 6,900,000
Unrecognized compensation cost related to non-vested share-based compensation for options, recognition period		1 year 9 months 18 days
Requisite service period		3 years