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Share-based awards - Schedule of Non-cash Stock Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total $ 16,465 $ 17,517 $ 47,822 $ 55,703
Direct costs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total 6,637 6,285 18,725 17,117
Selling, general and administrative        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total $ 9,828 $ 11,232 $ 29,097 $ 38,586