Property, plant, equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Abstract]
Land, buildings and leasehold improvements	$ 284,604	$ 272,578
Machinery and equipment	459,268	462,447
Computer equipment and software	214,573	192,785
Construction in progress	94,633	76,077
Property, plant and equipment, gross	1,053,078	1,003,887
Less: Accumulated depreciation	(573,165)	(556,682)
Property, plant and equipment, net	$ 479,913	$ 447,205