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Share-based compensation plans - Additional Information (Details)
$ / shares in Units, $ in Thousands
12 Months Ended 48 Months Ended
Dec. 31, 2022
USD ($)
installment
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares) | shares 6,998,566      
Compensation cost for share-based payment arrangements $ 31,309 $ 22,608 $ 10,607  
Related tax benefit recognized in net income 7,999 5,715 2,686  
Additional net excess tax benefit realized 1,367 1,110 2,528  
Noncash stock-based compensation associated performance contingent restricted stock units 17,900 11,477 2,023  
Compensation deferrals in current year $ 2,256 $ 2,507 $ 2,593  
Restricted Stock Units (RSUs) | Executive Officers and Key Management Employees        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Minimum vesting period 3 years      
Restricted Stock Units (RSUs) | Executive Officers and Key Management Employees | Share-based Compensation Award, Tranche One        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 33.33%      
Restricted Stock Units (RSUs) | Executive Officers and Key Management Employees | Share-based Compensation Award, Tranche Two        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 33.33%      
Restricted Stock Units (RSUs) | Executive Officers and Key Management Employees | Share-based Compensation Award, Tranche Three        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 33.33%      
Restricted Stock Units (RSUs) | Executives and Directors        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Minimum vesting period 5 years      
Granted, weighted-average grant date fair value (usd per share) | $ / shares $ 53.55 $ 57.77 $ 54.16  
Fair value of vested units $ 6,243 $ 4,063 $ 3,277  
Restricted Stock Units (RSUs) | Executives and Directors | Share-based Compensation Award, Tranche Three        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 33.33%      
Restricted Stock Units (RSUs) | Executives and Directors | Share-based Compensation Award, Tranche Four        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 33.33%      
Restricted Stock Units (RSUs) | Executives and Directors | Share-based Compensation Award, Tranche Five        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 33.33%      
Restricted Stock Awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Granted, weighted-average grant date fair value (usd per share) | $ / shares $ 53.55      
Vested units in period (in shares) | shares 0      
Restricted Stock Awards | Executives and Directors        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Noncash stock-based compensation associated performance contingent restricted stock units $ 11,113 $ 8,278 $ 4,559  
Total unrecognized compensation cost related to nonvested awards $ 9,597      
Weighted-average period 29 months      
Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Granted, weighted-average grant date fair value (usd per share) | $ / shares $ 51.94 $ 55.95 $ 52  
Total unrecognized compensation cost related to nonvested awards $ 16,889      
Weighted-average period 21 months      
Performance period 3 years      
Number of common shares to be converted into for each share upon conversion 1      
Performance Shares | 2022 PCSU        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Performance period 3 years      
Total performance contingent restricted stock units vested , minimum (in shares) | shares 0      
Total performance contingent restricted stock units, maximum (in shares) | shares 357,362      
Performance Shares | 2021 PCSU        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Performance period 3 years      
Total performance contingent restricted stock units vested , minimum (in shares) | shares 0      
Total performance contingent restricted stock units, maximum (in shares) | shares 242,020      
Performance Shares | 2020 PCSU        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value of vested units $ 17,052      
Vested units in period (in shares) | shares 280,881      
Performance Shares | 2019 PCSU        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value of vested units   $ 3,719    
Vested units in period (in shares) | shares   64,243    
Performance Shares | 2018 PCSU        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value of vested units     $ 8,288  
Vested units in period (in shares) | shares     139,886  
Stock Appreciation Rights (SARs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 33.33%      
Total unrecognized compensation cost related to nonvested awards $ 0      
Vested units in period (in shares) | shares 0      
Aggregate intrinsic value of options and SARs exercised $ 582 $ 2,575 $ 2,771  
Weighted average remaining contractual life for SAR's, outstanding 5 years 1 month 6 days      
Aggregate intrinsic value for SAR's, outstanding $ 4,292      
Fair market value of the Company’s stock used to calculate intrinsic value (usd per share) | $ / shares $ 60.71      
Stock Appreciation Rights (SARs) | Granted 2015 through 2019        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Minimum vesting period       3 years
Term of award 10 years      
Stock Options and Stock Appreciation Rights Sars        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation cost for share-based payment arrangements $ 40 $ 347 $ 1,442  
Deferred Stock Equivalent Units | Non-employee directors | Share-based Compensation Award, Tranche One        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of annual distribution installments | installment 1      
Deferred Stock Equivalent Units | Non-employee directors | Share-based Compensation Award, Tranche Two        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of annual distribution installments | installment 3      
Deferred Stock Equivalent Units | Non-employee directors | Share-based Compensation Award, Tranche Three        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of annual distribution installments | installment 5