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Financial instruments - Fair value of derivatives (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Derivative Asset, Statement of Financial Position [Extensible Enumeration] Prepaid expenses and other current assets  
Other assets    
Derivatives Fair Value [Line Items]    
Derivative Asset, Statement of Financial Position [Extensible Enumeration] Other assets  
Other liabilities    
Derivatives Fair Value [Line Items]    
Derivative Liability, Current, Statement of Financial Position [Extensible Enumeration] Other current liabilities  
Cash Flow Hedging    
Derivatives Fair Value [Line Items]    
Total asset derivatives $ 63,610 $ 33,291
Total liability derivatives 1,460 1,140
Cash Flow Hedging | Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 51,698 23,731
Cash Flow Hedging | Other assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 11,912 9,560
Cash Flow Hedging | Foreign Currency Exchange Contracts | Other liabilities    
Derivatives Fair Value [Line Items]    
Total liability derivatives 1,460 1,140
Cash Flow Hedging | Foreign Currency Exchange Contracts | Designated as Hedging Instrument | Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 3,154 1,957
Cash Flow Hedging | Foreign Currency Exchange Contracts | Designated as Hedging Instrument | Other liabilities    
Derivatives Fair Value [Line Items]    
Total liability derivatives 983 993
Cash Flow Hedging | Foreign Currency Exchange Contracts | Not Designated as Hedging Instrument | Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 41 56
Cash Flow Hedging | Foreign Currency Exchange Contracts | Not Designated as Hedging Instrument | Other liabilities    
Derivatives Fair Value [Line Items]    
Total liability derivatives 477 147
Cash Flow Hedging | Cross Currency Interest Rate Contract | Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 48,503 21,718
Cash Flow Hedging | Cross Currency Interest Rate Contract | Other assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives $ 11,912 $ 9,560