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Share-based compensation - Schedule of Restricted Stock Units (Details) - Restricted stock units - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares      
Outstanding, beginning of period (in shares) 182,528 233,448 193,939
Granted (in shares) 100,088 98,463 137,582
Vested (in shares) (84,794) (96,282) (79,623)
Forfeited (in shares) (8,798) (53,101) (18,450)
Outstanding, end of period (in shares) 189,024 182,528 233,448
Weighted-Average Grant-Date Fair Value Per Share      
Outstanding, beginning of period (in dollars per share) $ 39.75 $ 38.10 $ 40.89
Granted (in dollars per share) 42.41 41.31 34.66
Vested (in dollars per share) 39.41 37.75 38.51
Forfeited (in dollars per share) 41.63 39.01 39.92
Outstanding, end of period (in dollars per share) $ 41.23 $ 39.75 $ 38.10
Total weighted-average grant-date fair value of shares granted (in millions) $ 4.2 $ 4.1 $ 4.8