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Stock award plan - Restricted Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 12 Months Ended
Dec. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares        
Share-based compensation expense   $ 101,636 $ 110,333 $ 103,513
Restricted stock awards and units        
Number of Shares        
Balance at the beginning of the period (in shares)   2,516,336    
Granted (in shares)   2,104,128    
Vested (in shares)   (920,488)    
Forfeited (in shares)   (833,706)    
Balance at the end of the period (in shares) 2,866,270 2,866,270 2,516,336  
Weighted Average Grant Date Fair Value        
Balance at the beginning of the period (in dollars per share)   $ 45.67    
Granted (in dollars per share)   38.75    
Vested (in dollars per share)   43.74    
Forfeited (in dollars per share)   42.31    
Balance at the end of the period (in dollars per share) $ 41.82 $ 41.82 $ 45.67  
Performance-based restricted stock units (PSUs)        
Number of Shares        
Granted (in shares) 150,000      
Share-based compensation expense $ 0      
Performance period 2 years