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Property, plant and equipment (Tables)
12 Months Ended
Dec. 31, 2023
Property, Plant and Equipment [Abstract]  
Major Classes of Property, Plant and Equipment at Cost
The major classes of property, plant and equipment, at cost, at December 31, 2023 and 2022 were as follows: 
20232022
Land, buildings and leasehold improvements
$284,604 $272,578 
Machinery and equipment459,268 462,447 
Computer equipment and software214,573 192,785 
Construction in progress94,633 76,077 
1,053,078 1,003,887 
Less: Accumulated depreciation(573,165)(556,682)
Property, plant and equipment, net$479,913 $447,205