Income Taxes - Summary of reconciliation between federal statutory rate and effective tax rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
INCOME TAXES
Federal statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	2.10%	1.90%	2.90%
Foreign taxes, net of federal benefit	0.30%	0.30%	5.10%
Tax credits	(0.30%)	(0.10%)	(3.50%)
Change in contingencies	0.10%		8.60%
Non-deductible expenses	0.80%	0.70%	(2.80%)
Adjustments related to CARES Act			3.20%
Change in estimated deferred rate		0.40%	10.20%
Adjustments related to vesting of restricted stock	(0.10%)	0.20%	7.10%
Other		0.20%	4.30%
Effective tax rate	23.90%	24.60%	56.10%