Redeemable noncontrolling interest (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Apr. 26, 2018
Goodwill and Intangible Assets Disclosure [Abstract]
Redeemable Noncontrolling Interest, Equity, Common, Carrying Amount	$ 36,135,000	$ 29,239,000	$ 21,867,000
Net Income (Loss) Attributable to Redeemable Noncontrolling Interest	6,592,000	4,617,000
Temporary Equity, Interest in Subsidiary Earnings	(1,840,000)	0
Temporary Equity, Accretion to Redemption Value	2,144,000	2,755,000
2020	85,000
2021	85,000
Finite-Lived Intangible Assets, Accumulated Amortization	500,000	400,000
Finite-Lived Intangible Assets, Amortization Expense, Year Three	85,000
Finite-Lived Intangible Assets, Amortization Expense, Year Four	85,000
Finite-Lived Intangible Assets, Amortization Expense, Year Five	27,000
Goodwill	$ 680,000	$ 680,000		$ 700,000