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Share-based awards - Summary of Stock Option Activity (Details) - Employee Stock Option
9 Months Ended
Sep. 30, 2023
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Sep. 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     (377,614)
Canceled/expired (in shares) | shares     (6,885)
Outstanding at end of period (in shares) | shares 1,076,092 1,378,119 1,076,092
Exercisable at end of period (in shares) | shares 804,953   804,953
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     96.67
Canceled/expired (in USD per share) | $ / shares     116.33
Outstanding at end of period (in USD per share) | $ / shares $ 136.65 $ 119.86 136.65
Exercisable at end of period (in USD per share) | $ / shares $ 113.75   $ 113.75
Weighted Average Remaining Contractual Life      
Weighted average contractual term of options outstanding 4 years 5 months 12 days 4 years 8 months 8 days  
Weighted average contractual term of options exercisable 3 years 10 months 28 days