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Financial instruments - Forward exchange contracts (Details) - Forward exchange contract € in Millions | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2020 USD ($) | Dec. 31, 2020 EUR (€) | Dec. 31, 2019 USD ($) | Dec. 31, 2019 EUR (€)
Disclosure of financial assets [line items] |  |  |  |
Hedge ineffectiveness | $ 0 |  |  |
Cash flow hedges |  |  |  |
Disclosure of financial assets [line items] |  |  |  |
Notional amount | € |  | € 12.2 |  | € 18.4
Negative fair value | $ 600,000 |  | $ 400,000 |

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