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Employee plans - Summary of Restricted Stock Unit Activity (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Weighted-Average Grant-Date Fair Value    
Granted (in dollars per share) $ 34.14 $ 40.02
Restricted Stock And Restricted Stock Units R S Us    
Restricted Stock and RSU    
Outstanding at beginning of period (in shares) 2,124  
Granted (in shares) 1,177  
Vested (in shares) (819)  
Forfeited and expired (in shares) (252)  
Outstanding at end of period (in shares) 2,230 2,124
Weighted-Average Grant-Date Fair Value    
Outstanding at beginning of period (in dollars per share) $ 22.73  
Granted (in dollars per share) 24.69  
Vested (in dollars per share) 22.35  
Forfeited and expired (in dollars per share) 25.78  
Outstanding at end of period (in dollars per share) $ 23.53 $ 22.73