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Share-based compensation plans - Company's SARs (Details) - $ / shares | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock Appreciation Rights (SARs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Beginning Balance (in shares) | 879,671 |  |
Vested (in shares) | 0 |  |
Granted (in shares) | 0 |  |
Exercised (in shares) | (105,681) |  |
Forfeited/Expired (in shares) | (9,184) |  |
Ending Balance (in shares) | 764,806 | 879,671 |
Exercisable (in shares) | 764,806 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] |  |  |
Beginning Balance, weighted-average exercise price (usd per share) | $ 55.03 |  |
Granted, weighted-average exercise price (usd per share) | 0 |  |
Exercised, weighted-average exercise price (usd per share) | 55.20 |  |
Forfeited/Expired, weighted average exercise price (usd per share) | 57.45 |  |
Ending Balance, weighted average exercise price (usd per share) | 54.98 | $ 55.03 |
Exercisable, weighted-average exercise price (usd per share) | $ 54.98 |  |
Stock Appreciation Rights (SARs) | Nonvested |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Beginning Balance (in shares) | 124,164 |  |
Vested (in shares) | 124,164 |  |
Granted (in shares) | 0 | 0 | 0
Exercised (in shares) | 0 |  |
Forfeited/Expired (in shares) | 0 |  |
Ending Balance (in shares) | 0 | 124,164 |
Exercisable (in shares) | 0 |  |
Stock Appreciation Rights (SARs) | Vested |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Beginning Balance (in shares) | 755,507 |  |
Vested (in shares) | 124,164 |  |
Granted (in shares) | 0 |  |
Exercised (in shares) | (105,681) |  |
Forfeited/Expired (in shares) | (9,184) |  |
Ending Balance (in shares) | 764,806 | 755,507 |
Exercisable (in shares) | 764,806 |  |
Restricted Stock Awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Granted (in shares) | 291,365 |  |
Restricted Stock Awards | Nonvested |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Granted (in shares) | 291,365 |  |
Restricted Stock Awards | Vested |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] |  |  |
Granted (in shares) | 0 |  |

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- Definition 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). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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