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Stockholders' equity - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2019
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Existing long-term incentive plan |  |  |  | 200,000
Shares awarded under proposed long term incentive plan | 14,700 | 8,400 | 7,200 |
Shares available for awards under proposed long term incentive plan | 97,100 |  |  |
Number of shares authorized for repurchase |  |  |  | 2,000,000.0
Aggregate purchase price | $ 2.8 | $ 2.5 | $ 0.2 |
Shares available for repurchase under the plan | 1,017,518 |  |  |
Common stock |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Stock repurchased and acquired in market transactions | 313,814 | 217,778 | 14,409 |
Treasury Stock, Common |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Aggregate purchase price | $ 2.8 | $ 2.5 | $ 0.2 |

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