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Equity - Performance shares (Details) $ / shares in Units, shares in Thousands, $ in Millions	9 Months Ended	12 Months Ended
	Sep. 30, 2020 USD ($) item $ / shares shares	Dec. 31, 2018 USD ($)	Jun. 30, 2020 USD ($)	Mar. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Sep. 30, 2019 USD ($)	Jun. 30, 2019 USD ($)	Mar. 31, 2019 USD ($)
Share-based compensation
Share-based payments subject to redemption | $	$ 32.0	$ 37.0	$ 27.0	$ 23.0	$ 31.0	$ 28.0	$ 25.0	$ 21.0
Performance Shares
Share-based compensation
Number of tranches | item	2
Vesting terms		3 years
Granted (in shares) | shares	81
Weighted-average fair value per share, Granted (in dollars per share) | $ / shares	$ 94.48
Unrecognized compensation cost | $	$ 6.0
Remaining requisite service period (in years)	1 year 10 months 24 days
Cancelled (in shares) | shares	3
Market-based performance shares
Share-based compensation
Percentage of share-based compensation award	50.00%
Performance shares calculation period (in years)	3 years
Vesting terms	3 years
Market-based performance shares | Minimum
Share-based compensation
Performance shares available for vesting (as a percent)	0.00%
Market-based performance shares | Maximum
Share-based compensation
Performance shares available for vesting (as a percent)	200.00%
Internal-based performance based
Share-based compensation
Percentage of share-based compensation award	50.00%
Performance shares calculation period (in years)	3 years
Vesting terms	3 years
Internal-based performance based | Minimum
Share-based compensation
Performance shares available for vesting (as a percent)	0.00%
Internal-based performance based | Maximum
Share-based compensation
Performance shares available for vesting (as a percent)	200.00%
Performance Shares Award Granted in 2017
Share-based compensation
Award pay out achieved (as a percent)	0.00%

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The length of time used to calculate the final payments for performance shares.

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Number of tranches in share-based compensation award type.

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Percentage of share-based compensation award.

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Minimum period the individual is required to perform services to be fully vested under the deferred compensation arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 710
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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Percentage of vesting of award under share-based payment arrangement.

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Carrying amount, attributable to parent, of an entity's issued and outstanding stock which is not included within permanent equity. Temporary equity is a security with redemption features that are outside the control of the issuer, is not classified as an asset or liability in conformity with GAAP, and is not mandatorily redeemable. Includes any type of security that is redeemable at a fixed or determinable price or on a fixed or determinable date or dates, is redeemable at the option of the holder, or has conditions for redemption which are not solely within the control of the issuer. Includes stock with a put option held by an ESOP and stock redeemable by a holder only in the event of a change in control of the issuer.

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