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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, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Disclosure [Abstract] |  |  |
U.S. statutory income tax rate | 21.00% | 21.00% | 21.00%
Foreign derived intangible income | (7.00%) | (6.10%) | (6.10%)
R&D tax credit | (0.90%) | (0.90%) | (1.30%)
Stock compensation | (0.70%) | (1.50%) | (2.50%)
Changes in uncertain tax positions | 0.10% | (0.20%) | (4.00%)
Other | 0.30% | 0.60% | (0.10%)
Effective tax rate | 12.80% | 12.90% | 7.00%

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