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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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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Amount of stock repurchase plan authorized.

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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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Number of common and preferred shares that were previously issued and that were repurchased by the issuing entity and held in treasury on the financial statement date. This stock has no voting rights and receives no dividends.

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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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