Segment information - Revenue Classified by Major Geographic Areas (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenues from External Customers and Long-Lived Assets [Line Items]
Total	$ 312,667	$ 294,111	$ 940,536	$ 797,361
Americas
Revenues from External Customers and Long-Lived Assets [Line Items]
Total	299,946	279,043	905,232	756,453
Europe/Middle East
Revenues from External Customers and Long-Lived Assets [Line Items]
Total	12,114	13,975	33,082	36,426
Asia
Revenues from External Customers and Long-Lived Assets [Line Items]
Total	$ 607	$ 1,093	$ 2,222	$ 4,482