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Income taxes, Statutory to effective tax rate reconciliation (Details)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2017
Effective Tax Rate Reconciliation [Abstract]      
Federal statutory tax rate 21.00% 21.00% 34.00%
U.S. corporate tax rate change 0.00% 9.50%  
R&D credit 7.10% 4.20%  
State income taxes, net of federal income taxes 0.10% 0.20%  
Business meals and entertainment (0.20%) 0.10%  
Miscellaneous permanent items (0.30%) 0.00%  
Uncertain tax positions (0.40%) (0.20%)  
Foreign-derived intangible income deduction 7.40% 0.00%  
Stock award excess tax benefit 0.30% (0.30%)  
Stock option cancellations (0.60%) (0.50%)  
Valuation allowance and tax accruals (1.20%) (2.60%)  
Other 0.10% (0.30%)  
Effective tax rate 33.30% 31.10%