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Share-based awards - Summary of Stock Option Activity (Details) - Employee Stock Option
6 Months Ended
Jun. 30, 2022
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Jun. 30, 2022
$ / shares
shares
Options Outstanding Number of Shares       
Outstanding at beginning of period (in shares) | shares     1,695,460
Granted (in shares) | shares     108,643
Exercised (in shares) | shares     (159,761)
Canceled/expired (in shares) | shares     (36,531)
Outstanding at end of period (in shares) | shares 1,607,811 1,695,460 1,607,811
Exercisable at end of period (in shares) | shares 1,044,178   1,044,178
Weighted Average Exercise Price      
Outstanding at beginning of period (in USD per share) | $ / shares     $ 104.79
Granted (in USD per share) | $ / shares     229.94
Exercised (in USD per share) | $ / shares     94.70
Canceled/expired (in USD per share) | $ / shares     124.62
Outstanding at end of period (in USD per share) | $ / shares $ 119.68 $ 104.79 119.68
Exercisable at end of period (in USD per share) | $ / shares $ 99.21   $ 99.21
Weighted Average Remaining Contractual Life      
Weighted average contractual term of options outstanding 5 years 3 months 7 days 5 years 4 months 20 days  
Weighted average contractual term of options exercisable 4 years 5 months 26 days