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Shareholders' equity - Narrative (Details) |  |  |  |  |  |  |  |  | 12 Months Ended |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Mar. 28, 2024 $ / shares | Mar. 12, 2024 period $ / shares | Dec. 27, 2023 $ / shares | Sep. 28, 2023 $ / shares | Jun. 28, 2023 $ / shares | Mar. 30, 2023 $ / shares | Mar. 14, 2023 installment $ / shares | Feb. 15, 2019 USD ($) shares | Dec. 31, 2023 USD ($) vote $ / shares shares | Dec. 31, 2022 $ / shares shares | Dec. 31, 2021 shares | Dec. 31, 2020 $ / shares shares | May 22, 2018 USD ($) $ / shares
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock authorized (in shares) |  |  |  |  |  |  |  |  | 500,000,000 |  |  |  |
Common stock, par value (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  | $ 0 |  |  | $ 0 |
Common stock outstanding (in shares) |  |  |  |  |  |  |  |  |  |  |  | 207,265,773 |
Common stock issued (in shares) |  |  |  |  |  |  |  |  | 210,654,969 | 210,594,545 | 210,478,322 | 207,265,773 |
Dividends declared (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 0.19 |  |  |  |  |  |
Common stock, dividends, number of payment installments | installment |  |  |  |  |  |  | 4 |  |  |  |  |  |
Dividends (in dollars per share) | $ / shares |  |  | $ 0.04 | $ 0.05 | $ 0.05 | $ 0.05 |  |  | $ 0.19 | $ 0.15 |  |  |
Dividends paid, cash | $ |  |  |  |  |  |  |  |  | $ 40,022,000 |  |  |  |
Subsequent event |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Dividends declared (in dollars per share) | $ / shares |  | $ 0.24 |  |  |  |  |  |  |  |  |  |  |
Common stock, dividends, number of payment installments | period |  | 4 |  |  |  |  |  |  |  |  |  |  |
Dividends (in dollars per share) | $ / shares | $ 0.06 |  |  |  |  |  |  |  |  |  |  |  |
The repurchase program |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  |  |  |  |  |  | 7,993,602 |  |  |  |  |
Value of shares repurchased | $ |  |  |  |  |  |  |  | $ 60,000,000 |  |  |  |  |
Class A |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock authorized (in shares) |  |  |  |  |  |  |  |  | 420,000,000 |  |  |  |
Common stock outstanding (in shares) |  |  |  |  |  |  |  |  |  |  |  | 127,265,773 |
Common stock issued (in shares) |  |  |  |  |  |  |  |  | 130,654,969 | 130,594,545 | 130,478,322 | 127,265,773 |
Shares issued during the period (in shares) |  |  |  |  |  |  |  |  | 60,424 | 116,223 | 251,623 |  |
Repurchased share distributed (in shares) |  |  |  |  |  |  |  |  |  |  | 2,960,926 | 2,723,614 |
Number of votes per share (in votes) | vote |  |  |  |  |  |  |  |  | 1 |  |  |  |
Class A | The repurchase program |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, par value (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  | $ 0
Shares authorized, value | $ |  |  |  |  |  |  |  |  |  |  |  |  | $ 60,000,000
Class B |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock authorized (in shares) |  |  |  |  |  |  |  |  | 80,000,000 |  |  |  |
Common stock outstanding (in shares) |  |  |  |  |  |  |  |  |  |  |  | 80,000,000 |
Common stock issued (in shares) |  |  |  |  |  |  |  |  | 80,000,000 | 80,000,000 | 80,000,000 | 80,000,000 |
Number of votes per share (in votes) | vote |  |  |  |  |  |  |  |  | 5 |  |  |  |

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