Summary of significant accounting policies - Contract Liability (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Contract With Customer, Liability [Roll Forward]
Balance, beginning of the period	$ 346,150	$ 282,128
Revenue earned	(107,595)	(85,337)
Deferral of revenue	103,895	95,708
Other	(1,608)	0
Balance, end of the period	$ 340,842	$ 292,499