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Shareholders' equity - Stock Repurchase Program (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2020 | Dec. 09, 2019 | Dec. 01, 2018
Accelerated Share Repurchases [Line Items] |  |  |
Treasury Stock, Shares | 150,974 |  |
Stock Repurchased During Period, Shares | 1,053,314 |  |
Stock repurchase, average cost per share (in USD per share) | $ 72.33 |  |
Treasury Stock, Value, Acquired, Par Value Method | $ 76.2 |  |
Treasury Stock, Shares, Retired | 1,028,328 |  |
2018 Stock Repurchase Program [Member] [Member] |  |  |
Accelerated Share Repurchases [Line Items] |  |  |
Common stock repurchase, authorized amount | $ 23.8 |  | $ 100.0
2019 Stock Repurchase Program [Member] |  |  |
Accelerated Share Repurchases [Line Items] |  |  |
Common stock repurchase, authorized amount |  | $ 100.0 |

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- Definition Amount of stock repurchase plan authorized. + References No definition available. + Details
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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. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=109259400&loc=d3e21463-112644 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(29)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI http://asc.fasb.org/extlink&oid=27012166&loc=d3e187085-122770 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 + Details
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