A theory of above-threshold ionization of atoms by a strong laser field is formulated. Two versions of the strong-field approximation (SFA) are considered, the direct SFA and the improved SFA, which do not and do, respectively, take into account rescattering of the freed electron off the parent ion. The atomic bound state is included in two different ways: as an expansion in terms of Slater-type orbitals or as an asymptotic wave function. Even though we are using the single-active-electron approximation, multielectron effects are taken into account in two ways: by a proper choice of the ground state and by an adequate definition of the ionization rate. For the case of the asymptotic bound-state wave functions, using the saddle-point method, a simple expression for the $T$-matrix element is derived for both the direct and the improved SFA. The theory is applied to ionization by a bicircular field, which consists of two coplanar counterrotating circularly polarized components with frequencies that are integer multiples of a fundamental frequency $\ensuremath{\omega}$. Special emphasis is on the $\ensuremath{\omega}\text{\ensuremath{-}}2\ensuremath{\omega}$ case. In this case, the threefold rotational symmetry of the field carries over to the velocity map of the liberated electrons, for both the direct and the improved SFA. The results obtained are analyzed in detail using the quantum-orbit formalism, which gives good physical insight into the above-threshold ionization process. For this purpose, a specific classification of the saddle-point solutions is introduced for both the backward-scattered and the forward-scattered electrons. The high-energy backward-scattering quantum orbits are similar to those discovered for high-order harmonic generation. The short forward-scattering quantum orbits for a bicircular field are similar to those of a linearly polarized field. The conclusion is that these orbits are universal, i.e., they do not depend much on the shape of the laser field.
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