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Income taxes - Reconciliation of Gross Amounts of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Gross unrecognized tax benefits, Beginning Balance $ 11,230 $ 12,200 $ 14,400
Increases in prior years’ unrecognized tax benefits 12,283 91 0
Decreases in prior years’ unrecognized tax benefits (275) (464) (1,300)
Increases in current year's unrecognized tax benefits 1,088 1,569 1,300
Decreases in unrecognized tax benefits from the lapse of statutes of limitations (6,170) (1,866) (2,300)
Settlements (14) (300)  
Settlements     100
Gross unrecognized tax benefits, Ending Balance $ 18,142 $ 11,230 $ 12,200