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Income taxes - Reconciliation of U.S. Federal Statutory Tax Rate to Actual Consolidated Tax Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Statutory tax rate	$ 129,115	$ 119,945	$ (33,806)
State income taxes, net of federal tax benefit	16,051	13,149	(15,863)
Valuation allowance	4,486	(10,477)	(33,576)
Tax examinations including change in reserve for uncertain tax positions	2,183	567	5,665
Adjustments to prior year deferred taxes	(2,489)	(2,110)	1,239
Foreign earnings taxed at other than U.S. rates	13,704	12,334	9,659
Divestiture of business	464	0	(808)
Effect of tax rate changes	387	(2,151)	275
Foreign withholding taxes	4,635	4,670	8,107
Tax credits	(18,841)	(14,077)	(21,936)
Global intangible low-taxed income (GILTI)	2,930	2,851	11,323
Foreign-derived intangible income	(1,106)	(657)	(202)
Foreign currency gain/(loss) on distributions of previously taxed income	(2,614)	(1,280)	3,365
Other, net	373	(4,255)	(872)
Total taxes	$ 149,278	$ 118,509	$ (67,430)
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Statutory tax rate (percent)	21.00%	21.00%	21.00%
State income taxes, net of federal tax benefit (percent)	2.60%	2.30%	9.90%
Valuation allowance (percent)	0.70%	(1.80%)	20.90%
Tax examinations including change in reserve for uncertain tax positions (percent)	0.40%	0.10%	(3.50%)
Adjustments to prior year deferred taxes (percent)	(0.40%)	(0.40%)	(0.80%)
Foreign earnings taxed at other than U.S. rates (percent)	2.20%	2.20%	(6.00%)
Disposition of business (percent)	0.10%	0.00%	0.50%
Effect of tax rate changes (percent)	0.10%	(0.40%)	(0.20%)
Deduction related to qualified production activities (percent)	0.80%	0.80%	(5.00%)
Tax credit (percent)	(3.10%)	(2.50%)	13.60%
Global intangible low-tax income (GILTI) (percent)	0.50%	0.50%	(7.00%)
Foreign-derivative intangible income (percent)	(0.20%)	(0.10%)	0.10%
Foreign currency gain/(loss) on distributions of previously taxed income (percent)	(0.40%)	(0.20%)	(2.10%)
Other, net (percent)	0.10%	(0.70%)	0.50%
Total taxes (percent)	24.30%	20.70%	41.90%

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to other adjustments.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 12
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-12

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+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 12
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-12

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to state and local income tax expense (benefit).

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 12
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-12

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+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 12
-Publisher FASB
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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to other income tax settlements.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
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-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 12
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-12

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