Employee benefit plans - Narrative (Details) - USD ($)	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
ESPP stock issued during period (shares)	900,000	700,000	800,000
ESPP weighted average purchase price of shares purchased (usd per share)	$ 4.10	$ 6.72	$ 5.28
Unearned stock-based compensation, expected recognition period	2 years 2 months 26 days
Share-based Payment Arrangement, Expense, Tax Benefit	$ 9,300,000	$ 8,600,000	$ 9,000,000
Defined Contribution Plan, Maximum Annual Contributions Per Employee, Percent	100.00%
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value	$ 1,400,000	1,500,000	1,500,000
Defined Contribution Plan, Maximum Annual Contributions Per Employee, Percent	100.00%
Defined Benefit Plan, Plan Assets, Contributions by Employer	$ 900,000	$ 800,000	$ 800,000
Stock Repurchased During Period, Shares	9,931,000	5,967,000
Treasury Stock Acquired, Average Cost Per Share	$ 4.03	$ 6.64
Stock Repurchased During Period, Value	$ 40,000,000	$ 39,618,000
Defined Contribution Plan, Minimum Annual Contributions Per Employee, Percent	1
RSUs [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares granted (shares)	8,595,000
Weighted average price of shares granted (usd per share)	$ 5.13	$ 7.68	$ 8.83
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value	$ 34,500,000	$ 30,800,000	$ 28,500,000
Performance Shares [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares granted (shares)	1,254,000
Weighted average price of shares granted (usd per share)	$ 5.79
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value	$ 3,700,000	4,800,000	3,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value	$ 5.79	$ 8.70	$ 7.93
Employee Stock Purchase Plan Shares [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Purchase Price of Common Stock, Percent	85.00%
Stock Options, ESPP and Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unearned stock-based compensation costs	$ 57,000,000
2014 Equity Incentive Plans [Member] \| Stock Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expiration Period	10 years
2014 Equity Incentive Plans [Member] \| Performance Shares [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award Vesting Period	3 years
2014 Equity Incentive Plans [Member] \| Minimum [Member] \| Stock Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award Vesting Period	1 year
2014 Equity Incentive Plans [Member] \| Minimum [Member] \| RSUs [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award Vesting Period	2 years
2014 Equity Incentive Plans [Member] \| Maximum [Member] \| Stock Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award Vesting Period	4 years
2014 Equity Incentive Plans [Member] \| Maximum [Member] \| RSUs [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award Vesting Period	4 years

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