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Restructuring and asset impairment - Restructuring Accrual Activity for Given Years (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Restructuring Reserve [Roll Forward]    
Liability, beginning balance $ 16,069 $ 12,790
2022 charges 56,933 46,815
Cash (payments)/receipts (30,680) (26,722)
Asset write downs/disposals (26,445) (16,580)
Foreign currency translation 76 (234)
Liability, ending balance 15,953 16,069
Severance and Termination Benefits    
Restructuring Reserve [Roll Forward]    
Liability, beginning balance 14,677 10,917
2022 charges 26,631 17,983
Cash (payments)/receipts (27,000) (14,024)
Asset write downs/disposals 0 0
Foreign currency translation 7 (199)
Liability, ending balance 14,315 14,677
Asset Impairment/Disposal of Assets    
Restructuring Reserve [Roll Forward]    
Liability, beginning balance 0 0
2022 charges 19,603 9,442
Cash (payments)/receipts 6,842 7,138
Asset write downs/disposals (26,445) (16,580)
Foreign currency translation 0 0
Liability, ending balance 0 0
Other Costs    
Restructuring Reserve [Roll Forward]    
Liability, beginning balance 1,392 1,873
2022 charges 10,699 19,390
Cash (payments)/receipts (10,522) (19,836)
Asset write downs/disposals 0 0
Foreign currency translation 69 (35)
Liability, ending balance $ 1,638 $ 1,392