Derivative instruments and hedging activities - Schedule of Effect of Derivative Instruments (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Derivatives designated as hedging instruments
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Recognized in OCI on Derivative	$ (1,676)	$ 1,867
Gain or (Loss) Reclassified from Accumulated OCI into Income	1,883	1,173
Derivatives designated as hedging instruments \| Foreign exchange contracts 1
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Recognized in OCI on Derivative	(1,729)	1,884
Derivatives designated as hedging instruments \| Foreign exchange contracts 1 \| Net sales
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Reclassified from Accumulated OCI into Income	2,244	1,739
Derivatives designated as hedging instruments \| Foreign exchange contracts 2
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Recognized in OCI on Derivative	1,143	(21)
Derivatives designated as hedging instruments \| Foreign exchange contracts 2 \| Cost of sales
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Reclassified from Accumulated OCI into Income	(560)	(327)
Derivatives designated as hedging instruments \| Foreign exchange contracts 3
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Recognized in OCI on Derivative	876	4
Derivatives designated as hedging instruments \| Foreign exchange contracts 3 \| Operating expenses
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Reclassified from Accumulated OCI into Income	(328)	(239)
Derivatives designated as hedging instruments \| Interest Rate Swap
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Recognized in OCI on Derivative	(1,966)
Derivatives designated as hedging instruments \| Interest Rate Swap \| Other (expense) income
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Reclassified from Accumulated OCI into Income	527
Derivatives not designated as hedging instruments
Derivative Instruments, Gain (Loss) [Line Items]
Amount of Gain (Loss) Recognized in Income	(856)	(803)
Derivatives not designated as hedging instruments \| Foreign exchange contracts - forwards
Derivative Instruments, Gain (Loss) [Line Items]
Amount of Gain (Loss) Recognized in Income	$ (856)	$ (803)

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Amount of realized and unrealized gain (loss) of derivative instruments not designated or qualifying as hedging instruments.

+ References

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-Publisher FASB
-Name Accounting Standards Codification
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Amount, before tax and reclassification, of gain (loss) from derivative instrument designated and qualifying cash flow hedge included in assessment of hedge effectiveness.

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-Publisher FASB
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Amount, before tax, of reclassification of gain (loss) from accumulated other comprehensive income (AOCI) for derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

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