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Shareholders' equity - Comprehensive Income (Loss) - (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2015
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Other Comprehensive (Income) Loss, Defined Benefit Plan, after Reclassification Adjustment, Tax, Attributable to Parent $ 0 $ (59) $ 37  
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]        
Balance, beginning of period (24,650) (12,496) (32,970)  
Other Comprehensive Income (Loss), Net of Tax (179) (12,154) 20,329  
Amounts reclassified from accumulative other comprehensive income, net of tax     (145)  
Balance, end of period (24,829) (24,650) (12,496)  
Reclassification from AOCI, tax expense (benefit)   0 0  
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]        
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]        
Balance, beginning of period (22,965) (10,054) (31,472)  
Other Comprehensive Income (Loss), Net of Tax 885 (12,911) 21,273  
Amounts reclassified from accumulative other comprehensive income, net of tax     (145)  
Balance, end of period (22,080) (22,965) (10,054)  
Other comprehensive income (loss) before reclassification, tax expense (benefit) 0 0 0  
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]        
Balance, beginning of period (1,685) (2,442)    
Other Comprehensive Income (Loss), Net of Tax (1,064) 757 (944) $ (1,498)
Amounts reclassified from accumulative other comprehensive income, net of tax     0  
Balance, end of period (2,749) (1,685) (2,442)  
Other comprehensive income (loss) before reclassification, tax expense (benefit) $ 95 $ (59) $ (37)