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Stock-based compensation - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Directors |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Stock granted | 39,104 | 25,321 | 20,638
Employee Stock Option |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Total unrecognized compensation cost related to non-vested restricted stock awards and performance shares to members of management | $ 10.4 |  |
Total unrecognized compensation cost related to non-vested restricted stock awards and performance shares to members of management, period of recognition (in years) | 1 year 9 months 3 days |  |
Restricted Stock Units (RSUs) | Executive Officers |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Stock granted | 200,303 | 137,934 | 120,105
Restricted Stock Expense (Benefit) | $ 11.5 | $ 10.3 | $ 8.6
Incentive award, tax benefit (expense) | 1.9 | 1.8 | 1.6
Fair Market Value of stock vested at vesting date | $ 14.3 |  |
Stock-Based Compensation, vesting rights | the compensation cost associated with the shares of restricted stock granted prior to 2021 was determined based on a two-prong vesting schedule. The first part is vested ratably over five or four years commencing at the date of grant (the “graduated vesting portion”) and the second part is vested at termination of employment after attaining 55 years of age and 10 years of service or 60 years of age and 5 years of service (the “retirement vesting portion”). The graduated vesting portion is accelerated at termination of employment after attaining 55 years of age and 10 years of service or 60 years of age and 5 years of service. Restricted stock granted on or after 2021 will vest ratably in equal annual installments over a period of 4 years or 3 years, depending in the classification of the employee. The vesting schedule is accelerated at termination of employment after attaining the earlier of 55 years of age and 10 years of service or 60 years of age and 5 years of service. |  |
Windfall Net Of Shortfall | $ 1.1 |  |
Restricted Stock Units (RSUs) | Executive Officers | Share Vesting On Grant Date |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Fair value of stocks vested at grant date | $ 11.4 |  |
Restricted Stock Units (RSUs) | Directors |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Stock granted | 36,804 |  |
Restricted Stock Expense (Benefit) | $ 2.2 | 2.0 | 1.9
Incentive award, tax benefit (expense) | 0.4 | $ 0.4 | $ 0.4
Fair value of stocks vested at grant date | $ 2.2 |  |
Performance Based Shares | Minimum |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Vested and expected to vest range based on shareholder return | 50.00% |  |
Performance Based Shares | Maximum |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Vested and expected to vest range based on shareholder return | 150.00% |  |
Performance Based Shares | Executive Officers |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Stock granted | 57,454 | 56,857 | 71,374
Restricted Stock Expense (Benefit) | $ 3.5 | $ 4.8 | $ 5.8
Incentive award, tax benefit (expense) | $ 0.1 | $ 0.4 | $ 0.5
Stock-Based Compensation, vesting rights | The number of shares that will ultimately vest ranges from 50% to a 150% of target based on both market (TSR) and performance (ROATCE) conditions. The performance shares vest at the end of the three-year performance cycle. If a participant terminates employment after attaining the earlier of 55 years of age and 10 years of service or 60 years of age and 5 years of service, the performance shares shall continue outstanding and vest at the end of the performance cycle. |  |
Unrestricted Stock | Directors |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |
Stock granted | 2,300 |  |

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