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Shareholders' equity
 3 Months Ended
Mar. 31, 2022
Stockholders' Equity Note [Abstract]  
Shareholders' equity In October 2018, our board of directors authorized the repurchase of up to $500,000 of our common stock. This authorization has no expiration date. No shares were repurchased during the quarters ended March 31, 2022 or March 31, 2021, and $287,452 remained available for repurchase under this authorization as of March 31, 2022.