Stockholders' equity - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2019
Accumulated Other Comprehensive Income Loss [Line Items]
Existing long-term incentive plan				200,000
Shares awarded under proposed long term incentive plan	14,700	8,400	7,200
Shares available for awards under proposed long term incentive plan	97,100
Number of shares authorized for repurchase				2,000,000.0
Aggregate purchase price	$ 2.8	$ 2.5	$ 0.2
Shares available for repurchase under the plan	1,017,518
Common stock
Accumulated Other Comprehensive Income Loss [Line Items]
Stock repurchased and acquired in market transactions	313,814	217,778	14,409
Treasury Stock, Common
Accumulated Other Comprehensive Income Loss [Line Items]
Aggregate purchase price	$ 2.8	$ 2.5	$ 0.2