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Common stock (Details)
 12 Months Ended
Dec. 31, 2013
Dec. 31, 2012
Dec. 31, 2011
Class of Stock [Line Items]      
Common stock, Authorized     40,000,000
Common Class A [Member]
      
Class of Stock [Line Items]      
Common stock, Authorized 40,000,000 40,000,000 40,000,000
Common stock, Outstanding (in shares) 6,342,189 6,342,189 6,342,189
Conversions (in shares) 0 0 0
Repurchase of common stock (in shares) 0   0
Restricted stock issued - directors (in shares) 0 0 0
Exercised stock options - compensation plans (in shares) 0 0 0
Restricted stock units - vested (in shares) 0 0 0
Common stock, Outstanding (in shares) 6,342,189 6,342,189 6,342,189
Common Class B [Member]
      
Class of Stock [Line Items]      
Common stock, Authorized 40,000,000 40,000,000 40,000,000
Common stock, Outstanding (in shares) 2,531,926 2,531,926 2,542,021
Conversions (in shares) (11,504) 0 (10,095)
Repurchase of common stock (in shares) 0   0
Restricted stock issued - directors (in shares) 0 0 0
Exercised stock options - compensation plans (in shares) 0 0 0
Restricted stock units - vested (in shares) 0 0 0
Common stock, Outstanding (in shares) 2,520,422 2,531,926 2,531,926
Common Class E [Member]
      
Class of Stock [Line Items]      
Common stock, Authorized 100,000,000 100,000,000 100,000,000
Common stock, Outstanding (in shares) 29,271,067 28,257,827 27,826,330
Conversions (in shares) 11,503 0 10,095
Repurchase of common stock (in shares) (1,083)   0
Restricted stock issued - directors (in shares) 28,500 32,317 25,541
Exercised stock options - compensation plans (in shares) 276,079 895,674 325,996
Restricted stock units - vested (in shares) 124,490 85,249 69,865
Common stock, Outstanding (in shares) 29,710,556 29,271,067 28,257,827
Common Class F [Member]
      
Class of Stock [Line Items]      
Common stock, Authorized 100,000,000 100,000,000 100,000,000
Common stock, Outstanding (in shares) 0 0 0
Conversions (in shares) 0 0 0
Repurchase of common stock (in shares) 0   0
Restricted stock issued - directors (in shares) 0 0 0
Exercised stock options - compensation plans (in shares) 0 0 0
Restricted stock units - vested (in shares) 0 0 0
Common stock, Outstanding (in shares) 0 0 0
Common Stock [Member]
      
Class of Stock [Line Items]      
Common stock, Authorized 280,000,000 280,000,000 280,000,000
Common stock, Outstanding (in shares) 38,145,182 37,131,942 36,710,540
Conversions (in shares) (1) 0 0
Repurchase of common stock (in shares) (1,083)   0
Restricted stock issued - directors (in shares) 28,500 32,317 25,541
Exercised stock options - compensation plans (in shares) 276,079 895,674 325,996
Restricted stock units - vested (in shares) 124,490 85,249 69,865
Common stock, Outstanding (in shares) 38,573,167 38,145,182 37,131,942