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Income taxes - Reconciliation items from U.S. statutory income tax rate to the effective tax rate (Details) | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Income Tax Disclosure [Abstract] |  |  |
U.S. statutory income tax rate | 21.00% | 21.00% | 35.00%
U.S. tax benefit for foreign derived intangible income | (4.90%) | (5.30%) | 0.00%
U.S. excess tax benefit for stock compensation | (3.10%) | (2.00%) | (4.10%)
U.S. R&D tax credit | (1.40%) | (1.30%) | (1.10%)
Non-U.S. effective tax rates | 0.30% | 0.10% | (2.50%)
U.S. Tax Act transitional non-cash expense | 0.00% | 4.20% | 0.00%
U.S. Tax Act enactment-date effects and measurement period adjustments | 0.00% | (0.70%) | 12.70%
U.S. tax benefit for manufacturing | 0.00% | 0.00% | (1.60%)
Other | 0.50% | 0.50% | 1.00%
Effective tax rate | 12.40% | 16.50% | 39.40%

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