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Financial instruments - Fair values of derivative instruments designated as hedging instruments (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Cash flow hedging    
Derivatives Fair Value [Line Items]    
Total asset derivatives $ 22,860 $ 19,449
Total liability derivatives 34,412 35,303
Foreign exchange contract | Other liabilities    
Derivatives Fair Value [Line Items]    
Total liability derivatives 32,532 32,097
Foreign exchange contract | Cash flow hedging | Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 22,860 19,449
Foreign exchange contract | Cash flow hedging | Other current liabilities    
Derivatives Fair Value [Line Items]    
Total liability derivatives 1,880 3,206
Foreign exchange contract | Designated as hedging instrument | Cash flow hedging | Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 3,512 1,629
Foreign exchange contract | Designated as hedging instrument | Cash flow hedging | Other current liabilities    
Derivatives Fair Value [Line Items]    
Total liability derivatives 1,334 1,866
Foreign exchange contract | Not designated as hedging instrument | Cash flow hedging | Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 475 937
Foreign exchange contract | Not designated as hedging instrument | Cash flow hedging | Other current liabilities    
Derivatives Fair Value [Line Items]    
Total liability derivatives 546 1,340
Cross-currency interest rate swaps | Not designated as hedging instrument | Cash flow hedging | Prepaid expenses and other current assets    
Derivatives Fair Value [Line Items]    
Total asset derivatives 18,873 16,883
Cross-currency interest rate swaps | Not designated as hedging instrument | Cash flow hedging | Other liabilities    
Derivatives Fair Value [Line Items]    
Total liability derivatives $ 32,532 $ 32,097