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Income taxes - Additional Information (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2017 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Taxes [Line Items] |  |  |  |
Tax credit carryforwards, foreign |  | $ 22,434 |  |
Capital loss carryforwards |  | 3,817 | $ 3,626 |
Transition tax installment period | 8 years |  |  |
Income taxes paid, Tax Act, transition tax for accumulated foreign earnings |  | 1,366 |  |
Increase (decrease) in reserve for uncertain tax positions |  | 2,183 | 567 | $ 5,665
Tax credits |  | 18,841 | 14,077 | 21,936
Tax credit offsetting GILTI tax |  | 2,442 | 1,245 |
Global intangible low-taxed income (GILTI) |  | 2,930 | 2,851 |
Net GILTI tax |  | 488 | 1,606 |
Tax cuts and jobs act, global intangible low-tax income, net tax expense (benefit) amount |  | 8,735 |  |
Tax Act, benefits included in valuation allowance |  |  | 13,182 |
Undistributed earnings |  | 1,040,580 |  |
Unrecognized tax benefits |  | 19,241 | 17,821 |
Accrued for interest |  | 1,773 | 859 |
Income taxes, net interest expense |  | 914 |  |
Interest benefit |  |  | 272 |
Interest expense |  | 1,186 |  |
Expected decrease in reserve for uncertain tax benefits |  | 10,018 |  |
U.S. Federal |  |  |  |
Income Taxes [Line Items] |  |  |  |
Loss carryforwards |  | 79,501 |  |
Foreign |  |  |  |
Income Taxes [Line Items] |  |  |  |
Loss carryforwards |  | 258,412 |  |
Capital loss carryforwards |  | 15,256 |  |
Loss carryforwards not subject to expiration |  | 203,574 |  |
Foreign | Next five years |  |  |  |
Income Taxes [Line Items] |  |  |  |
Operating loss carryforwards subject to expiration |  | 15,178 |  |
Foreign | Tax years, 2029 - 2043 |  |  |  |
Income Taxes [Line Items] |  |  |  |
Operating loss carryforwards subject to expiration |  | 39,660 |  |
State |  |  |  |
Income Taxes [Line Items] |  |  |  |
Loss carryforwards |  | 10,113 |  |
State credit carry forwards |  | 16,876 |  |
Uncertain Items Arising During Year |  |  |  |
Income Taxes [Line Items] |  |  |  |
Increase (decrease) in reserve for uncertain tax positions |  | 3,074 | 2,051 | 2,330
Uncertain Items Arising During Prior Years |  |  |  |
Income Taxes [Line Items] |  |  |  |
Increase (decrease) in reserve for uncertain tax positions |  | $ (891) | $ (1,484) | $ 3,743

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