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Share-based compensation plans - Activity Related to PCSUs, Restricted Stock Units and Deferred Compensation Plans (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restricted Stock Units (RSUs) |  |  |
Number of Shares |  |  |
Beginning Balance (in shares) | 535,704 |  |
Granted (in shares) | 325,771 |  |
Vested (in shares) | 0 |  |
Converted (in shares) | (179,198) |  |
Cancelled (in shares) | (24,148) |  |
Dividend equivalents (in shares) | 4,131 |  |
Ending Balance (in shares) | 662,260 | 535,704 |
Average Grant Date Fair Value per Share |  |  |
Beginning Balance, weighted-average grant date fair value (usd per share) | $ 53.23 |  |
Granted, weighted-average grant date fair value (usd per share) | 56.87 |  |
Converted, weighted-average grant date fair value (usd per share) | 54.12 |  |
Cancelled, weighted-average grant date fair value (usd per share) | 55.79 |  |
Dividend equivalents, weighted-average grant date fair value (usd per share) | 56.97 |  |
Ending Balance, weighted-average grant date fair value (usd per share) | $ 54.71 | $ 53.23 |
Restricted Stock Units (RSUs) | Nonvested |  |  |
Number of Shares |  |  |
Beginning Balance (in shares) | 462,395 |  |
Granted (in shares) | 325,771 |  |
Vested (in shares) | 172,786 |  |
Converted (in shares) |  |  |
Cancelled (in shares) | (24,148) |  |
Dividend equivalents (in shares) | 2,213 |  |
Ending Balance (in shares) | 593,445 | 462,395 |
Restricted Stock Units (RSUs) | Vested |  |  |
Number of Shares |  |  |
Beginning Balance (in shares) | 73,309 |  |
Granted (in shares) | 0 |  |
Vested (in shares) | 172,786 |  |
Converted (in shares) | (179,198) |  |
Cancelled (in shares) | 0 |  |
Dividend equivalents (in shares) | 1,918 |  |
Ending Balance (in shares) | 68,815 | 73,309 |
Performance Contingent Restricted Stock Units (PCSUs) |  |  |
Number of Shares |  |  |
Beginning Balance (in shares) | 901,782 |  |
Granted (in shares) | 205,178 |  |
Performance adjustments (in shares) | (129,224) |  |
Vested (in shares) | 0 |  |
Converted (in shares) | (291,818) |  |
Cancelled (in shares) | (31,403) |  |
Dividend equivalents (in shares) | 380 |  |
Ending Balance (in shares) | 654,895 | 901,782 |
Average Grant Date Fair Value per Share |  |  |
Beginning Balance, weighted-average grant date fair value (usd per share) | $ 52.81 |  |
Granted, weighted-average grant date fair value (usd per share) | 55.04 | $ 51.94 | $ 55.95
Performance adjustments, weighted-average grant date fair value (usd per share) | 55.04 |  |
Converted, weighted-average grant date fair value (usd per share) | 51.68 |  |
Cancelled, weighted-average grant date fair value (usd per share) | 54.08 |  |
Dividend equivalents, weighted-average grant date fair value (usd per share) | 56.99 |  |
Ending Balance, weighted-average grant date fair value (usd per share) | $ 53.51 | $ 52.81 |
Performance Contingent Restricted Stock Units (PCSUs) | Nonvested |  |  |
Number of Shares |  |  |
Beginning Balance (in shares) | 599,382 |  |
Granted (in shares) | 205,178 |  |
Performance adjustments (in shares) | (129,224) |  |
Vested (in shares) | 225,530 |  |
Converted (in shares) | 0 |  |
Cancelled (in shares) | (31,403) |  |
Dividend equivalents (in shares) | 0 |  |
Ending Balance (in shares) | 418,403 | 599,382 |
Performance Contingent Restricted Stock Units (PCSUs) | Vested |  |  |
Number of Shares |  |  |
Beginning Balance (in shares) | 302,400 |  |
Granted (in shares) | 0 |  |
Performance adjustments (in shares) | 0 |  |
Vested (in shares) | 225,530 |  |
Converted (in shares) | (291,818) |  |
Cancelled (in shares) | 0 |  |
Dividend equivalents (in shares) | 380 |  |
Ending Balance (in shares) | 236,492 | 302,400 |
Deferred Compensation Plans |  |  |
Number of Shares |  |  |
Beginning Balance (in shares) | 287,015 |  |
Deferred (in shares) | 36,254 |  |
Converted (in shares) | (8,406) |  |
Dividend equivalents (in shares) | 9,739 |  |
Ending Balance (in shares) | 324,602 | 287,015 |

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The net total number of shares (or other type of equity) under an equity-based award plan, other than a stock option plan, that were granted, vested and forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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