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Long-term debt - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Debt Instrument [Line Items]          
Interest expense $ 3,300 $ 3,800 $ 10,300 $ 10,900  
Amortization of deferred debt issuance costs 200 200 569 597  
Accrued interest $ 3,300   $ 3,300   $ 3,700
2021 Credit Facilities | Term loan          
Debt Instrument [Line Items]          
Quarterly amortization rate 7.57%   7.57%    
Revolving Credit Facility          
Debt Instrument [Line Items]          
Interest expense $ 100 $ 200 $ 500 $ 500  
Available credit under agreement $ 45,000   $ 45,000    
Commitment fee percentage     0.25%    
Revolving Credit Facility | 2021 Credit Facilities | Line of credit          
Debt Instrument [Line Items]          
Quarterly amortization rate 7.68%   7.68%    
Revolving Credit Facility | Minimum          
Debt Instrument [Line Items]          
Commitment fee percentage     0.25%    
Revolving Credit Facility | Maximum          
Debt Instrument [Line Items]          
Commitment fee percentage     0.50%