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Long-term debt - 2029, 2027 and 2025 Note Activity (Details) - USD ($)
$ in Thousands
 12 Months Ended
Jul. 05, 2022
Jun. 10, 2022
May 13, 2022
Apr. 22, 2022
Oct. 13, 2020
Apr. 12, 2017
Jun. 28, 2016
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Sep. 27, 2023
Apr. 27, 2022
Sep. 11, 2020
Apr. 04, 2017
Sep. 27, 2013
Debt Instrument [Line Items]                              
Total payments               $ 723,663              
2023 Notes                              
Debt Instrument [Line Items]                              
Principal amount issued                             $ 473,767
Principal amount redeemed $ (1,300) $ (123,000)   $ (59,239) $ (131,476) $ (45,698) $ (80,000)     $ (14,830) $ (18,224)        
Redemption average price (as a percent) 102.30% 104.58%   105.36% 100.50% 104.00% 98.00%     109.45%          
Redemption early price (as a percent)         1.0550 1.0700 1.0100                
Redemption price, amount $ (1,330) $ (128,636)   $ (62,414) $ (138,474) $ (48,885) $ (80,800)     $ (16,231) $ (18,224)        
Total payments               0 $ 18,224            
2027 Notes                              
Debt Instrument [Line Items]                              
Principal amount issued         $ 138,354               $ 150,000 $ 265,000  
Principal amount redeemed     $ (150,000)         $ (2,000) $ (4,721) $ (17,368)          
Redemption average price (as a percent)     99.94%         95.20% 98.01% 105.74%          
Redemption early price (as a percent)     1.0300                        
Redemption price, amount     $ (154,407)         $ (1,904) $ (4,627) $ (18,364)          
Total payments               379,265 381,265            
2029 Notes                              
Debt Instrument [Line Items]                              
Principal amount issued                       $ 350,000      
Principal amount redeemed               $ (3,000) $ (12,800)            
Redemption average price (as a percent)               93.76% 93.87%            
Redemption price, amount               $ (2,813) $ (12,015)            
Total payments               $ 334,200 $ 337,200