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Defined benefit and 401(k) savings plan - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Retirement Benefits [Abstract]      
Pension expense $ 0.6 $ 0.8 $ 2.0
Matching contributions made by employer $ 8.3 $ 8.8 $ 8.9