Annual and transition report of foreign private issuers pursuant to Section 13 or 15(d)

Summary of significant accounting policies - Post-employment Benefits (Details)

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Summary of significant accounting policies - Post-employment Benefits (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accounting Policies [Abstract]      
Employer contribution, percentage 8.33%    
Severance pay $ 5,537,000 $ 4,096,000 $ 2,436,000
Maximum contribution percent of pretax salary (up to) 50.00%    
Maximum amount of contribution per employee $ 20,500    
Additional contribution amount for employees over 50 $ 6,500    
Employee contribution match, percent 100.00%    
Employer contribution percent of salary, maximum, percent 4.00%    
Company's matching contribution amount $ 873,000 $ 656,000 $ 395,000