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Fair value measurement - Narrative (Details)
$ in Thousands
3 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
Dec. 31, 2023
USD ($)
investment
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
Asset impairment charges   $ 3,359 $ (323) $ (2,307)
Increase in the fair value of the debt security       20,800
Available-for-sale debt security       23,800
Future funding commitments   700 700  
Level 2 | Fair Value        
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
Fair value of long-term debt   $ 2,930,000 2,950,000  
Fair Value Measured at Net Asset Value Per Share | Defined Benefit Plan, Common Collective Trust | Retirement Plans        
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
Number of investments held in collective trusts | investment   5    
Fair Value Measured at Net Asset Value Per Share | Common collective trust - fixed income | Retirement Plans        
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
Number of investments held in collective trusts | investment   4    
One Investment | Level 3        
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
Equity investments, impairment loss     2,500  
Investment One        
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
Equity investments, impairment loss     $ 2,500  
Recorded gains       1,900
Investment One | Level 2        
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
Equity investments, impairment loss       1,900
Recorded gains       1,900
Different investment        
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
Equity investments, impairment loss       $ 1,900
MadHive Inc        
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]        
After-tax gain on sale of equity method investment $ 25,800 $ 25,800