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Employee benefit plans - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Shares (in thousands)        
Outstanding at beginning of period (shares)   3,080    
Granted (shares)   320    
Exercised (shares)   (63)    
Forfeited/Cancelled (shares)   (248)    
Outstanding at end of period (shares) 3,080 3,089 3,080  
Weighted-average exercise price        
Outstanding at beginning of period (in dollars per share)   $ 9.18    
Granted (usd per share)   8.70    
Exercised (usd per share)   4.43    
Outstanding at end of period (in dollars per share) $ 9.18 $ 9.37 $ 9.18  
Aggregate intrinsic value (in thousands) $ 8,735,000 $ 467 $ 8,735,000  
Vested and Expected to Vest (shares)   3,089    
Vested and Expected to Vest - Weighted Average Exercise Price (in dollars per share)   $ 9.37    
Vested and Expected to Vest- Weighted Average Remaining Contractual Term   5 years 3 months 18 days    
Vested and Expected to Vest - Aggregate Intrinsic Value   $ 467    
Exercisable (shares)   2,446    
Exercisable - Weighted average exercise price (in dollars per share)   $ 9.97    
Exercisable - Weighted Average Remaining Contractual Term   4 years 6 months 10 days    
Exercisable - Aggregate intrinsic value   $ 288    
Share-based Compensation Arrangements by Share-based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price   $ 7.40    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value   $ 5.05 $ 4.62 $ 2.03
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value   $ 1,500,000 $ 1,500,000 $ 1,700,000
Stock Repurchase Program, Remaining Authorized Repurchase Amount   60,400,000    
Stock Repurchase Program, Authorized Amount   $ 100    
Equity, Class of Treasury Stock [Line Items]        
Weighted Average Remaining Contractual Term (in years) 5 years 11 months 1 day 5 years 3 months 18 days