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Summary of significant accounting policies - Other intangible assets, net (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]      
Impairment of intangible assets, finite-lived $ 0 $ 0 $ 0
Minimum      
Finite-Lived Intangible Assets [Line Items]      
Useful life 2 years    
Maximum      
Finite-Lived Intangible Assets [Line Items]      
Useful life 12 years