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Shareholders' equity
 6 Months Ended
Jun. 30, 2023
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 under this authorization during the six months ended June 30, 2023 or June 30, 2022, and $287,452 remained available for repurchase as of June 30, 2023.