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Stock compensation - RSU and PSU award activity (Details) - $ / shares
1 Months Ended 6 Months Ended
Apr. 30, 2019
Jul. 31, 2018
Jun. 30, 2018
Jun. 30, 2019
Shares Subject to Outstanding Options, Shares        
Outstanding at the beginning of the period (in shares)       2,043,337
Outstanding at the end of the period (in shares)       1,959,415
Shares Subject to Outstanding Options, Weighted Average Exercise Price        
Outstanding at the beginning of the period (in dollars per share)       $ 80.35
Outstanding at the end of the period (in dollars per share)       $ 77.86
Restricted Stock Units (RSUs)        
Shares Subject to Outstanding Options, Shares        
Granted (in shares)     190,000 193,950
Cancelled (in shares)       (83,723)
Released (in shares)       (316,325)
Shares Subject to Outstanding Options, Weighted Average Exercise Price        
Granted (in dollars per share)       $ 74.74
Cancelled (in dollars per share)       85.58
Released (in dollars per share)       $ 87.99
Performance Stock Units (PSUs)        
Shares Subject to Outstanding Options, Shares        
Granted (in shares) 100,000 77,243 446,500 100,000
Achieved (in shares)       44,940
Cancelled (in shares)       (22,764)
Shares Subject to Outstanding Options, Weighted Average Exercise Price        
Granted (in dollars per share)       $ 74.38
Achieved (in dollars per share)       65.76
Cancelled (in dollars per share)       $ 66.44