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Shareholders' equity - Comprehensive Income (Loss) - (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Other Comprehensive Income (Loss), Net of Tax $ 14,401 $ (179) $ (12,154)  
Accumulated other comprehensive loss (10,428) (24,829) (24,650) $ (12,496)
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Other Comprehensive Income (Loss), Net of Tax 14,172 885 (12,911)  
Accumulated other comprehensive loss (7,908) (22,080) (22,965) (10,054)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Other Comprehensive Income (Loss), Net of Tax (161) (1,064) 757 (2,442)
Accumulated other comprehensive loss (2,910) (2,749) (1,685)  
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Other Comprehensive Income (Loss), Net of Tax 390 0 0  
Accumulated other comprehensive loss $ 390 $ 0 $ 0 $ 0