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Stock award plan - Stock Option Activity (Details) - Stock option - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of options      
Outstanding at the beginning of the period (in shares) 11,502,417 10,772,582 9,663,677
Granted (in shares) 1,117,284 1,685,435 2,487,234
Exercised (in shares) (822,482) (496,863) (635,871)
Forfeited/Cancelled (in shares) (2,196,820) (458,737) (742,458)
Outstanding at the end of the period (in shares) 9,600,399 11,502,417 10,772,582
Vested or Expected to vest at the end of the period (in shares) 1,796,687    
Exercisable at the end of the period (in shares) 7,650,948    
Weighted- average exercise price      
Outstanding at the beginning of the period (in dollars per share) $ 43.33 $ 43.66 $ 38.72
Granted (in dollars per share) 40.19 38.55 61.36
Exercised (in dollars per share) 29.25 29.45 28.01
Forfeited/Cancelled (in dollars per share) 45.85 48.75 52.04
Outstanding at the end of the period (in dollars per share) 43.59 $ 43.33 $ 43.66
Vested or Expected to vest at the end of the period (in dollars per share) 45.85    
Exercisable at the end of the period (in dollars per share) $ 43.08    
Weighted- average remaining contractual term      
Outstanding at the end of the period 5 years 4 months 20 days    
Vested or Expected to vest at the end of the period 8 years 1 month 28 days    
Exercisable at the end of the period 4 years 8 months 4 days    
Aggregate intrinsic value (in thousands)      
Outstanding at the end of the period (in dollars) $ 8,814    
Vested or Expected to vest at the end of the period (in dollars) 366    
Exercisable at the end of the period (in dollars) $ 8,387