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Derivative instruments and hedging activities - Narrative (Details)
$ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2023
USD ($)
country
Mar. 31, 2022
Dec. 31, 2022
USD ($)
Derivative [Line Items]      
Number of countries for which entity has direct operations | country 40    
Period of protection against the reduction in value caused by a fluctuation, minimum (in number of years) 1 year    
Period of protection against the reduction in value caused by a fluctuation, maximum (in number of years) 3 years    
Foreign currency forward contracts notional amount $ 335,307   $ 260,157
Maximum      
Derivative [Line Items]      
Duration of foreign currency forward contracts 21 months   12 months
Forward Contracts      
Derivative [Line Items]      
Duration of time, foreign currency cash flow hedge 40 months    
Forward Contracts | Net sales      
Derivative [Line Items]      
Gains (losses) expected to be reclassified from AOCI to earnings $ 700    
Forward Contracts | Operating expenses      
Derivative [Line Items]      
Gains (losses) expected to be reclassified from AOCI to earnings (1,200)    
Forward Contracts | Cost of sales      
Derivative [Line Items]      
Gains (losses) expected to be reclassified from AOCI to earnings $ (900)    
Forward Contracts | Maximum      
Derivative [Line Items]      
Percentage of derivative risk hedged 100.00%    
Interest Rate Swap      
Derivative [Line Items]      
Duration of foreign currency forward contracts     3 years
Foreign currency forward contracts notional amount     $ 300,000
Derivative, fixed interest rate     3.90%
Other Derivatives      
Derivative [Line Items]      
Foreign currency forward contracts notional amount $ 266,000   $ 282,000
Other Derivatives | Maximum      
Derivative [Line Items]      
Percentage of derivative risk hedged 90.00%    
Duration of foreign currency forward contracts 90 days    
Net sales | Geographic Concentration Risk | Non-Americas      
Derivative [Line Items]      
Concentration risk, percentage 59.00% 59.00%