Income taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Tax Credit Carryforward [Line Items]
Additional valuation allowance amount	$ 2,100,000
Effective income tax rate reconciliation, change in deferred tax assets valuation allowance, amount	2,100,000	$ (9,800,000)	$ (800,000)
Provision for income taxes that may become payable upon distribution of earnings of certain foreign subsidiaries	0
Unrecognized deferred income tax liability	32,200,000
Penalties and interest accrued related to income tax liabilities	4,600,000	$ 3,800,000
Reasonably possible decrease in amount of unrecognized tax benefits	1,300,000
Utilization of tax attributes, annual limitation	70,600,000
Utilization of tax attributes, cumulative limitation	488,000,000
Foreign Tax Authority
Tax Credit Carryforward [Line Items]
Effective income tax rate reconciliation, change in deferred tax assets valuation allowance, amount	$ (9,800,000)