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Earnings per share - Antidilutive Securities (Details) - shares
shares in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Earnings Per Share [Abstract]        
Anti-dilutive shares excluded from per share calculation (in shares) 27,400 25,600 27,600 19,000