Restructurings and impairment charges - Plans (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
	Dec. 31, 2022	Sep. 30, 2023
Restructuring Reserve [Roll Forward]
Accrued at beginning balance		$ 1,041
Charges		2,109
Amounts Paid		(2,692)
Accrued at ending balance	$ 1,041	458
November 2022 Reduction
Restructuring Reserve [Roll Forward]
Accrued at beginning balance		1,041
Charges	1,400	327
Amounts Paid		(1,249)
Accrued at ending balance	1,041	119
March 2023 Restructuring Plan
Restructuring Reserve [Roll Forward]
Accrued at beginning balance		0
Charges		1,782
Amounts Paid		(1,443)
Accrued at ending balance	$ 0	$ 339