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Income taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Tax Credit Carryforward [Line Items] |  |  |
Effective income tax rate reconciliation, change in deferred tax assets valuation allowance, amount | $ (9,800,000) | $ (800,000) | $ 2,900,000
Provision for income taxes that may become payable upon distribution of earnings of certain foreign subsidiaries | 0 |  |
Unrecognized deferred income tax liability | 28,200,000 |  |
Penalties and interest accrued related to income tax liabilities | 3,800,000 | $ 3,800,000 |
Reasonably possible decrease in amount of unrecognized tax benefits | 1,200,000 |  |
Utilization of tax attributes, annual limitation | 70,600,000 |  |
Utilization of tax attributes, cumulative limitation | 511,000,000 |  |
Foreign Tax Authority |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Effective income tax rate reconciliation, change in deferred tax assets valuation allowance, amount | $ 9,800,000 |  |

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- Definition Cumulative Tax Attributes Utilization Limit + References No definition available. + Details
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- Definition Tax Attributes Annual Utilization Limit + References No definition available. + Details
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- Definition Amount of decrease reasonably possible in the next twelve months for the unrecognized tax benefit. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (d)(3) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition Amount of deferred tax liability not recognized because of the exceptions to comprehensive recognition of deferred taxes related to undistributed earnings of foreign subsidiaries. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 30 -Section 50 -Paragraph 2 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=6424122&loc=d3e41874-109331 + Details
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- Definition The amount of estimated penalties and interest accrued as of the balance sheet date arising from income tax examinations. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Amount of tax liability from transition tax on accumulated earnings of controlled foreign corporation deemed repatriated pursuant to Tax Cuts and Jobs Act. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -URI https://asc.fasb.org/topic&trid=2144680 + Details
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