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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