| Share based compensation - Options Exercised (Details) - USD ($) | 12 Months Ended | ||
|---|---|---|---|
| Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | |
| Share based compensation | |||
| Option Exercised (in shares) | 5,823,534 | 5,723,646 | 11,401,390 | 
| Intrinsic value of stock options exercised | $ 2,368,000 | $ 4,321,000 | $ 8,195,000 | 
| Proceeds from exercise of stock options | 50,000 | 759,000 | 5,663,000 | 
| Tax benefit from stock option exercises | $ 488,000 | $ 862,000 | $ 1,265,000 | 
| X | ||||||||||
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- Definition Amount of tax benefit from exercise of option under share-based payment arrangement. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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- Definition Amount of cash inflow from exercise of option under share-based payment arrangement. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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| X | ||||||||||
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- References No definition available. 
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| X | ||||||||||
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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| X | ||||||||||
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- Definition Number of share options (or share units) exercised during the current period. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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