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Share-based awards - Summary of Stock Option Activity (Details) - Employee Stock Option
9 Months Ended
Sep. 30, 2022
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Sep. 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     (276,901)
Canceled/expired (in shares) | shares     (56,143)
Outstanding at end of period (in shares) | shares 1,471,059 1,695,460 1,471,059
Exercisable at end of period (in shares) | shares 1,100,950   1,100,950
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     104.70
Canceled/expired (in USD per share) | $ / shares     141.35
Outstanding at end of period (in USD per share) | $ / shares $ 119.10 $ 104.79 119.10
Exercisable at end of period (in USD per share) | $ / shares $ 101.29   $ 101.29
Weighted Average Remaining Contractual Life      
Weighted average contractual term of options outstanding 4 years 10 months 6 days 5 years 4 months 20 days  
Weighted average contractual term of options exercisable 4 years 3 months 21 days