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Related party transactions - Other Related Party Transactions (Details) - USD ($)
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2013
Nov. 30, 2012
Sponsor guarantee        
Related Party Transaction [Line Items]        
Total amount guaranteed $ 132,000,000 $ 146,000,000    
Seabras Sapura | Secured Debt | Sapura Esmeralda        
Related Party Transaction [Line Items]        
Maximum borrowing capacity     $ 36,000,000 $ 179,000,000