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Income taxes - Reconciliation of Gross Amounts of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Gross unrecognized tax benefits, Beginning Balance	$ 18,142	$ 11,230	$ 12,200
Increases in prior years’ unrecognized tax benefits	223	12,283	91
Decreases in prior years’ unrecognized tax benefits	(144)	(275)	(464)
Increases in current year's unrecognized tax benefits	1,807	1,088	1,569
Decreases in unrecognized tax benefits from the lapse of statutes of limitations	(1,174)	(6,170)	(1,866)
Settlements	(233)	(14)	(300)
Gross unrecognized tax benefits, Ending Balance	$ 18,621	$ 18,142	$ 11,230

X

- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

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- Definition

Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 45
-Paragraph 10B
-URI https://asc.fasb.org/extlink&oid=123427490&loc=SL37586934-109318

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15A
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-URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319

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- Definition

Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15A
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Amount of decrease in unrecognized tax benefits resulting from settlements with taxing authorities.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
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Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return.

+ References

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-Name Accounting Standards Codification
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Amount of increase in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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-Publisher FASB
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-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15A
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Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15A
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