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Capital and Reserves - Common stock and additional paid-in capital (Details) - shares
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Disclosure of share capital, reserves and other equity interest [Line Items]      
Authorized 280,000,000    
Beginning Balance (in Shares) 39,602,277 39,538,550 39,428,834
Conversions 0 0 0
Repurchased common stock (1) 0 (99,257)
Restricted stock issued - directors 63,000 57,000 57,000
Exercised stock options - compensation plans     102,918
Restricted stock units - vested 12,664 6,727 49,055
Ending Balance (in Shares) 39,677,940 39,602,277 39,538,550
Class A shares [Member]      
Disclosure of share capital, reserves and other equity interest [Line Items]      
Authorized 40,000,000    
Beginning Balance (in Shares) 6,342,189 6,342,189 6,342,189
Conversions 0 0 0
Repurchased common stock 0 0 0
Restricted stock issued - directors 0 0 0
Exercised stock options - compensation plans     0
Restricted stock units - vested 0 0 0
Ending Balance (in Shares) 6,342,189 6,342,189 6,342,189
Class B shares [Member]      
Disclosure of share capital, reserves and other equity interest [Line Items]      
Authorized 40,000,000    
Beginning Balance (in Shares) 2,182,426 2,245,226 2,408,805
Conversions (4,060) (62,799) (64,386)
Repurchased common stock (1) (1) (99,193)
Restricted stock issued - directors 0 0 0
Exercised stock options - compensation plans     0
Restricted stock units - vested 0 0 0
Ending Balance (in Shares) 2,178,365 2,182,426 2,245,226
Class E shares [Member]      
Disclosure of share capital, reserves and other equity interest [Line Items]      
Authorized 100,000,000    
Beginning Balance (in Shares) 31,077,662 30,951,135 30,677,840
Conversions 4,060 62,799 64,386
Repurchased common stock 0 1 (64)
Restricted stock issued - directors 63,000 57,000 57,000
Exercised stock options - compensation plans     102,918
Restricted stock units - vested 12,664 6,727 49,055
Ending Balance (in Shares) 31,157,386 31,077,662 30,951,135
Class F shares [Member]      
Disclosure of share capital, reserves and other equity interest [Line Items]      
Authorized 100,000,000    
Beginning Balance (in Shares) 0 0 0
Conversions 0 0 0
Repurchased common stock 0 0 0
Restricted stock issued - directors 0 0 0
Exercised stock options - compensation plans     0
Restricted stock units - vested 0 0 0
Ending Balance (in Shares) 0 0 0