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Financial instruments - Schedule of foreign exchange gains and losses recognized within AOCI and the interest benefit recognized within interest expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Foreign exchange (losses) gains | $ 44,902 | $ (62,904) | $ (63,191)
Interest benefit on swaps not designed as hedging instrument | 18,814 | 20,880 | $ 19,296
Cross Currency Interest Rate Contract | Not Designated as Hedging Instrument |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Interest benefit on swaps not designed as hedging instrument | 18,814 | 20,880 |
Cross Currency Interest Rate Contract | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Foreign exchange (losses) gains | $ (24,210) | $ 22,399 |

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