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Summary of significant accounting policies - Share-Based Payment (Details)
12 Months Ended
Dec. 31, 2023
Stock option plans  
Disclosure Of Detailed Information About Share-Based Payment [Line Items]  
Option vesting period (in years) 4 years
Restricted share plans  
Disclosure Of Detailed Information About Share-Based Payment [Line Items]  
Award vesting period (in years) 3 years