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Segment reporting - Sales to Unaffiliated Customers and Long-Lived Assets by Geographic Region (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Sales to Unaffiliated Customers      
Revenue $ 5,590,438 $ 5,237,443 $ 5,374,207
Long-lived Assets      
Long-lived Assets 2,954,499 3,007,236 3,158,819
United States      
Sales to Unaffiliated Customers      
Revenue 3,650,090 3,411,263 3,408,459
Long-lived Assets      
Long-lived Assets 2,078,342 2,016,185 2,177,918
Europe      
Sales to Unaffiliated Customers      
Revenue 941,655 1,055,830 1,078,766
Long-lived Assets      
Long-lived Assets 545,211 673,725 648,648
Canada      
Sales to Unaffiliated Customers      
Revenue 212,272 181,425 226,049
Long-lived Assets      
Long-lived Assets 104,913 102,932 107,470
Asia Pacific      
Sales to Unaffiliated Customers      
Revenue 401,003 316,670 350,259
Long-lived Assets      
Long-lived Assets 157,084 163,393 160,740
Other      
Sales to Unaffiliated Customers      
Revenue 385,418 272,255 310,674
Long-lived Assets      
Long-lived Assets $ 68,949 $ 51,001 $ 64,043