Income Taxes - Summary of reconciliation between federal statutory rate and effective tax rate (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes
Federal statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	1.90%	2.90%	1.50%
Foreign taxes, net of federal benefit	0.30%	5.10%	(0.40%)
Tax credits	(0.10%)	(3.50%)	0.10%
Change in contingencies		8.60%
Non-deductible expenses	0.70%	(2.80%)	(0.10%)
Adjustments related to CARES Act		3.20%	8.50%
Change in estimated deferred rate	0.40%	10.20%
Adjustments related to vesting of restricted stock	0.20%	7.10%	(0.80%)
Other	0.20%	4.30%	1.60%
Effective tax rate	24.60%	56.10%	31.40%