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Defined benefit and 401(k) savings plan - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Retirement Benefits [Abstract] |  |  |
Total contributions expected | $ 1.6 |  |
Matching contributions made by employer | $ 8.8 | $ 8.9 | $ 6.6

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- Definition Amount of contribution expected to be received by defined benefit plan from employer in next fiscal year following current fiscal year. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (g) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 18 -URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4587-114921 + Details
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- Definition Amount of discretionary contributions made by an employer to a defined contribution plan. + References No definition available. + Details
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