Restructuring and impairment charges - Expected costs to be incurred (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Deferred tax assets, valuation allowance	$ 91,531	$ 143,177
2022 restructuring plan
Restructuring Cost and Reserve [Line Items]
Deferred tax assets, valuation allowance	8,100
2022 restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	39,000
2022 restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	48,000
Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges		24,000
Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges		30,000
One-time Termination Benefits | 2022 restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	18,000
One-time Termination Benefits | 2022 restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	22,000
Other costs | 2022 restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	1,000
Other costs | 2022 restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	1,000
Restructuring charges | 2022 restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	19,000
Restructuring charges | 2022 restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	23,000
Restructuring charges | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges		5,000
Restructuring charges | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges		8,000
Restructuring related charges | 2022 restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	20,000
Restructuring related charges | 2022 restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	$ 25,000
Restructuring related charges | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges		19,000
Restructuring related charges | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges		$ 22,000