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Valuation and qualifying accounts (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period $ 247,102 $ 221,199 $ 263,087
Additions 59,760 91,077 26,671
Deductions (33,789) (22,392) (53,567)
Remeasurement/Translation (2,340) (42,782) (14,992)
Balance at end of period 270,733 247,102 221,199
Accrual provisions 24,260 27,041 22,555
Accrual reclassifications 633 141 899
Accrual payments 22,022 16,224 13,788
Allowance for doubtful accounts      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 849 874 943
Additions 838 732 814
Deductions (309) (715) (787)
Remeasurement/Translation 62 (42) (96)
Balance at end of period 1,440 849 874
Allowance for doubtful accounts | Accounts receivable      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 460 542  
Balance at end of period 1,330 460 542
Allowance for doubtful accounts | Other receivables      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 389 332  
Balance at end of period 110 389 332
Valuation allowance on deferred tax assets      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 201,414 186,239 235,196
Additions 34,029 63,163 2,403
Deductions (11,458) (5,453) (38,992)
Remeasurement/Translation (5,311) (42,535) (12,368)
Balance at end of period 218,674 201,414 186,239
Provision for contingencies      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 44,839 34,086 26,948
Additions 24,893 27,182 23,454
Deductions (22,022) (16,224) (13,788)
Remeasurement/Translation 2,909 (205) (2,528)
Balance at end of period $ 50,619 $ 44,839 $ 34,086