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Fair value measurements - Factoring Agreement Reconciliation of Beginning and Ending Balances (Details) - Beneficial Interest
$ in Thousands
12 Months Ended
Dec. 31, 2023
USD ($)
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]  
Level 3 financial assets, beginning of period $ 0
Beneficiary interest obtained in transferred invoices 560
Proceeds from previously transferred invoices 0
Level 3 financial assets, end of period $ 560