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, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation	$ 24,497	$ 30,481	$ 31,515
Total income tax benefit	9,072	10,744	8,082
Employee awards stock-based compensation net of tax	15,425	19,737	23,433
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation	20,931	16,182	12,806
PSAs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation	$ 3,566	$ 14,299	$ 18,709