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Shareholders' equity - Stock Repurchase Program (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 09, 2019	Dec. 01, 2018
Accelerated Share Repurchases [Line Items]
Stock Repurchased During Period, Shares	972,337
Stock repurchase, average cost per share (in USD per share)	$ 62.55
Treasury Stock, Value, Acquired, Par Value Method	$ 60.8
2018 Stock Repurchase Program [Member] [Member]
Accelerated Share Repurchases [Line Items]
Common stock repurchase, authorized amount	$ 39.2		$ 100.0
2019 Stock Repurchase Program [Member]
Accelerated Share Repurchases [Line Items]
Common stock repurchase, authorized amount		$ 100.0

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Amount of stock repurchase plan authorized.

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- Definition

Number of shares that have been repurchased during the period and have not been retired and are not held in treasury. Some state laws may govern the circumstances under which an entity may acquire its own stock and prescribe the accounting treatment therefore. This element is used when state law does not recognize treasury stock.

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Total cost of shares repurchased divided by the total number of shares repurchased.

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Equity impact of the cost of common and preferred stock that were repurchased during the period. Recorded using the par value method.

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