Restructuring and impairment charges - Expected costs to be incurred (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Deferred tax assets, valuation allowance	$ 95,747	$ 91,531
2023 Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	15,000
2023 Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	19,000
2023 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	11,000
2023 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	15,000
Restructuring charges | 2023 Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	12,000
Restructuring charges | 2023 Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	15,000
Restructuring charges | 2023 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	4,000
Restructuring charges | 2023 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	6,000
Restructuring related charges | 2023 Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	3,000
Restructuring related charges | 2023 Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	4,000
Restructuring related charges | 2023 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	7,000
Restructuring related charges | 2023 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	$ 9,000