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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