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Share-based compensation - Schedule of restricted shares with performance condition (Details) - Performance Shares - $ / shares | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Number of non-vested restricted shares (in shares) |  |  |
Outstanding, beginning of year (in shares) | 1,890,529 | 2,001,048 | 1,855,379
Granted (in shares) | 749,322 | 862,176 | 556,403
Forfeited (in shares) | (372,476) | (823,977) | (294,977)
Vested (in shares) | (504,440) | (148,718) | (115,757)
Outstanding, end of year (in shares) | 1,762,935 | 1,890,529 | 2,001,048
Number of non-vested restricted shares probable of vesting |  |  |
Outstanding, beginning of year (in shares) | 1,314,036 | 1,185,220 | 887,203
Granted (in shares) | 499,542 | 574,784 | 370,931
Forfeited (in shares) | 39,214 | (290,552) | (4,102)
Vested ( in shares) | (504,440) | (148,718) | (115,757)
Change in estimated restricted shares considered probable of vesting (in shares) | 132,656 | (6,698) | 46,945
Outstanding, end of year (in shares) | 1,402,580 | 1,314,036 | 1,185,220
Weighted average grant data fair value (in dollars per share) |  |  |
Outstanding, beginning of year (in dollars per share) | $ 12.43 | $ 12.80 | $ 12.60
Granted (in dollars per share) | 9.46 | 10.95 | 14.01
Forfeited (in dollars per share) | 12.12 | 11.70 | 13.98
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value | 12.16 | 11.40 | 14.00
Change in estimated restricted shares considerable probable of vesting (in dollars per share) | 11.28 | 12.92 | 13.35
Outstanding, end of year (in dollars per share) | $ 10.98 | $ 12.43 | $ 12.80

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- Definition Share Based Compensation Arrangement by Share Based Payment Award, Equity Instruments Other Than Options, Performance Conditions Met, Increase (Decrease) in Estimated Shares Probable of Vesting + References No definition available. + Details
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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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued 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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + 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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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