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Fair value measurements - Changes in Level 3 Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
ARS purchase commitments    
Liabilities    
Beginning Balance $ 195 $ 0
Total Realized and Unrealized Losses (1) (137)
Purchases and Issuances 0 0
Sales and Settlements (196) 0
Transfers In (Out) 0 332
Ending Balance 0 195
Auction rate securities    
Assets    
Beginning Balance 30,701 0
Total Realized and Unrealized Losses (197) (165)
Purchases and Issuances 1,350 1,300
Sales and Settlements (50) 0
Transfers In (Out) 0 29,566
Ending Balance $ 31,804 $ 30,701