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Income taxes - Reconciliation items from U.S. statutory income tax rate to the effective tax rate (Details) | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Disclosure [Abstract] |  |  |
U.S. statutory income tax rate | 21.00% | 21.00% | 21.00%
U.S. tax benefit for foreign derived intangible income | (6.10%) | (6.10%) | (4.90%)
U.S. excess tax benefit for stock compensation | (1.50%) | (2.50%) | (3.10%)
U.S. R&D tax credit | (0.90%) | (1.30%) | (1.40%)
Impact of changes in uncertain tax positions | (0.20%) | (4.00%) | (0.10%)
Other | 0.60% | (0.10%) | 0.90%
Effective tax rate | 12.90% | 7.00% | 12.40%

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- Definition Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI http://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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- Definition Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to other adjustments. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI http://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 6.I.Fact.4) -URI http://asc.fasb.org/extlink&oid=122134291&loc=d3e330036-122817 + Details
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