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Share-based awards - Summary of Stock Option Activity (Details) - Employee Stock Option
6 Months Ended
Jun. 30, 2023
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Jun. 30, 2023
$ / shares
shares
Options Outstanding Number of Shares       
Outstanding at beginning of period (in shares) | shares     1,378,119
Granted (in shares) | shares     82,472
Exercised (in shares) | shares     (229,953)
Canceled/expired (in shares) | shares     (6,885)
Outstanding at end of period (in shares) | shares 1,223,753 1,378,119 1,223,753
Exercisable at end of period (in shares) | shares 952,614   952,614
Weighted Average Exercise Price      
Outstanding at beginning of period (in USD per share) | $ / shares     $ 119.86
Granted (in USD per share) | $ / shares     232.48
Exercised (in USD per share) | $ / shares     87.69
Canceled/expired (in USD per share) | $ / shares     116.33
Outstanding at end of period (in USD per share) | $ / shares $ 133.51 $ 119.86 133.51
Exercisable at end of period (in USD per share) | $ / shares $ 113.27   $ 113.27
Weighted Average Remaining Contractual Life      
Weighted average contractual term of options outstanding 4 years 8 months 1 day 4 years 8 months 8 days  
Weighted average contractual term of options exercisable 4 years 2 months 12 days