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Shareholders' equity - Schedule of Stock-Based Compensation Related Amounts Recognized in the Consolidated Statements of Income for Equity Awards (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation $ 30,481 $ 31,515 $ 20,306
Total income tax benefit 10,744 8,082 4,297
Stock-based compensation net of tax 19,737 23,433 16,009
RSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation 16,182 12,806 11,686
PSAs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation $ 14,299 $ 18,709 $ 8,620