Revenue - Performance obligations - Details (Details)	9 Months Ended
	Sep. 30, 2023
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01
Revenue expected timing
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction	12 months
Percentage of remaining performance obligation expected to be recognized in period	57.70%
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-10-01 | Minimum
Revenue expected timing
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction	12 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-10-01 | Maximum
Revenue expected timing
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction	18 months