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Income taxes - Reconciliation of Gross Amounts of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Gross unrecognized tax benefits, Beginning Balance $ 18,621 $ 18,142 $ 11,230
Increases in prior years’ unrecognized tax benefits 378 223 12,283
Decreases in prior years’ unrecognized tax benefits (572) (144) (275)
Increases in current year’s unrecognized tax benefits 4,395 1,807 1,088
Decreases in unrecognized tax benefits from the lapse of statutes of limitations (1,094) (1,174) (6,170)
Settlements (51) (233) (14)
Gross unrecognized tax benefits, Ending Balance $ 21,677 $ 18,621 $ 18,142