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Stockholders' equity (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Class of Stock [Line Items]                  
Stock options outstanding (shares) 3,168,000     3,168,000 3,080,000        
Stockholders' Equity Attributable to Parent $ 607,735,000 $ 592,511,000 $ 592,786,000 $ 607,735,000 $ 615,914,000 $ 554,995,000 $ 238,165,000 $ 211,471,000 $ 216,018,000
Stock Repurchase Program, Authorized Amount 100     100          
Stock Repurchase Program, Remaining Authorized Repurchase Amount $ 68,400,000     $ 68,400,000          
Treasury Stock, Shares, Acquired 1,540     4,462          
Treasury Stock Acquired, Average Cost Per Share $ 6.40     $ 7.09          
Stock Repurchased During Period, Value $ 9,856,000 11,762,000 10,000,000 $ 31,618,000          
Treasury Stock [Member]                  
Class of Stock [Line Items]                  
Stockholders' Equity Attributable to Parent $ (145,231,000) $ (135,375,000) $ (123,613,000) $ (145,231,000) $ (113,613,000) $ (113,613,000) $ (113,613,000) $ (113,613,000) $ (113,613,000)
Common Class A [Member]                  
Class of Stock [Line Items]                  
Common stock authorized (shares) 500,000,000     500,000,000 500,000,000        
Common stock outstanding (shares) 129,655,000     129,655,000 129,815,000        
Common Stock, Voting Rights, Number       1          
Common Stock, Shares, Issued 129,655,000     129,655,000 129,815,000        
Common Class B [Member]                  
Class of Stock [Line Items]                  
Common stock authorized (shares) 150,000,000     150,000,000 150,000,000        
Common stock outstanding (shares) 26,259,000     26,259,000 26,659,000        
Common Stock, Voting Rights, Number       10          
Common Stock, Shares, Issued 26,259,000     26,259,000 26,659,000        
Restricted Stock Units (RSUs) [Member]                  
Class of Stock [Line Items]                  
Restricted stock units outstanding (shares) 8,195,000     8,195,000 8,714,000        
Performance Shares [Member]                  
Class of Stock [Line Items]                  
Restricted stock units outstanding (shares) 1,082,000     1,082,000 1,134,000