Restructuring charges - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 738	$ 8,548	$ 1,226
fourth quarter 2022 restructuring
Restructuring Cost and Reserve [Line Items]
Restructuring charges	8,100
Other Restructuring Costs	(184)
fourth quarter 2022 restructuring contract costs [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	7,000
fourth quarter 2022 restructuring transition costs [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 1,100