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Share-based compensation - Summary of changes in share based compensation (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Restricted stock units
Restricted stock awards and restricted stock units
Outstanding, beginning of period (in shares)	204,357	208,625	207,641	200,358
Granted (in shares)	0	1,006	78,595	95,565
Vested (in shares)	0	(101)	(77,719)	(76,813)
Forfeited (in shares)	0	(2,889)	(4,160)	(12,469)
Outstanding, end of period (in shares)	204,357	206,641	204,357	206,641
Weighted-average grant-date fair value per share
Outstanding, beginning of period (in dollars per share)	$ 40.65	$ 35.28	$ 35.36	$ 33.05
Granted (in dollars per share)	0	44.16	47.99	37.75
Vested (in dollars per share)	0	36.27	34.19	32.61
Forfeited (in dollars per share)	0	35.44	35.81	34.20
Outstanding, end of period (in dollars per share)	$ 40.65	$ 35.32	$ 40.65	$ 35.32
Total weighted-average grant-date fair value	$ 0.0	$ 0.0	$ 3.8	$ 3.6
LTIP linked to TRS
Restricted stock awards and restricted stock units
Outstanding, beginning of period (in shares)	90,616	98,311	96,402	65,578
Granted (in shares)	0	568	24,630	35,215
Vested (in shares)	0	0	(29,409)	0
Forfeited (in shares)	0	(2,477)	(1,007)	(4,391)
Outstanding, end of period (in shares)	90,616	96,402	90,616	96,402
Weighted-average grant-date fair value per share
Outstanding, beginning of period (in dollars per share)	$ 42.08	$ 39.61	$ 39.62	$ 38.81
Granted (in dollars per share)	0	41.07	48.62	41.07
Vested (in dollars per share)	0	0	39.51	0
Forfeited (in dollars per share)	0	39.64	41.72	39.19
Outstanding, end of period (in dollars per share)	$ 42.08	$ 39.62	$ 42.08	$ 39.62
Total weighted-average grant-date fair value	$ 0.0	$ 0.0	$ 1.2	$ 1.4
LTIP awards linked to other performance conditions
Restricted stock awards and restricted stock units
Outstanding, beginning of period (in shares)	297,523	407,090	403,768	276,169
Granted (in shares)	0	2,275	98,522	140,855
Vested (in shares)	0	0	(135,804)	0
Increase above target (in shares)	(21,807)	11,131	(86,739)	11,131
Forfeited (in shares)	0	(9,911)	(4,031)	(17,570)
Outstanding, end of period (in shares)	275,716	410,585	275,716	410,585
Weighted-average grant-date fair value per share
Outstanding, beginning of period (in dollars per share)	$ 40.37	$ 35.12	$ 35.15	$ 33.80
Granted (in dollars per share)	0	44.05	48.10	37.78
Vested (in dollars per share)	0	0	33.48	0
Increase above target (in dollars per share)	34.11	33.49	34.12	33.49
Forfeited (in dollars per share)	0	35.24	39.67	34.66
Outstanding, end of period (in dollars per share)	$ 40.86	$ 35.12	$ 40.86	$ 35.12
Total weighted-average grant-date fair value	$ 0.0	$ 0.1	$ 4.7	$ 5.3

X

- Definition

Represents the 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 during the reporting period as a result of the occurrence of a terminating event specified in the contractual agreement of the plan or when performance conditions met.

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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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).

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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.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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