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Restructuring and impairment charges - Expected costs to be incurred (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Restructuring Cost and Reserve [Line Items] |  |
Deferred tax assets, valuation allowance | $ 95,747 | $ 91,531
2023 Restructuring Plan | Minimum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 15,000 |
2023 Restructuring Plan | Maximum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 19,000 |
2023 Footprint realignment plan | Minimum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 11,000 |
2023 Footprint realignment plan | Maximum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 15,000 |
Restructuring charges | 2023 Restructuring Plan | Minimum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 12,000 |
Restructuring charges | 2023 Restructuring Plan | Maximum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 15,000 |
Restructuring charges | 2023 Footprint realignment plan | Minimum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 4,000 |
Restructuring charges | 2023 Footprint realignment plan | Maximum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 6,000 |
Restructuring related charges | 2023 Restructuring Plan | Minimum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 3,000 |
Restructuring related charges | 2023 Restructuring Plan | Maximum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 4,000 |
Restructuring related charges | 2023 Footprint realignment plan | Minimum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | 7,000 |
Restructuring related charges | 2023 Footprint realignment plan | Maximum |  |
Restructuring Cost and Reserve [Line Items] |  |
Expected restructuring charges | $ 9,000 |

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- Definition Amount expected to be recognized in earnings for the specified restructuring cost. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 420 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482017/420-10-50-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 420 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 2 -Subparagraph (SAB Topic 5.P.4(b)(1)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479823/420-10-S99-2 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 420 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 2 -Subparagraph (SAB Topic 5.P.4(d)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479823/420-10-S99-2 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 420 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482017/420-10-50-1 + Details
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