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Shareholders' equity (Narrative) (Details)
12 Months Ended
Mar. 26, 2019
USD ($)
installment
$ / shares
Feb. 15, 2019
USD ($)
shares
Dec. 31, 2019
USD ($)
vote
shares
Dec. 31, 2018
USD ($)
shares
Dec. 31, 2017
shares
Dec. 12, 2019
$ / shares
Aug. 14, 2019
$ / shares
Apr. 12, 2019
$ / shares
May 22, 2018
USD ($)
Dec. 31, 2016
shares
Class of Stock [Line Items]                    
Common stock authorized (in shares)     500,000,000              
Common stock issued (in shares)     212,063,631 211,593,073 211,072,508         210,711,224
Common stock outstanding (in shares)                   210,711,224
Common stock dividends declared | $ $ 22,425,000   $ 22,425,000 $ 20,937,000            
Class A                    
Class of Stock [Line Items]                    
Common stock authorized (in shares)     420,000,000              
Common stock issued (in shares)     132,063,631 131,593,073 131,072,508         130,711,224
Common stock outstanding (in shares)                   130,711,224
Shares issued during the period (in shares)     470,558 520,565 361,284          
Number of votes per share (in votes) | vote     1              
Dividends payable (in dollars per share) | $ / shares $ 0.11         $ 0.03 $ 0.03 $ 0.05    
Common stock, dividends, number of payment installments | installment 3                  
Class B                    
Class of Stock [Line Items]                    
Common stock authorized (in shares)     80,000,000              
Common stock issued (in shares)     80,000,000 80,000,000 80,000,000         80,000,000
Common stock outstanding (in shares)                   80,000,000
Number of votes per share (in votes) | vote     5              
The Repurchase Program                    
Class of Stock [Line Items]                    
Number of shares repurchased (in shares)   7,993,602                
Value of shares repurchased | $   $ 60,000,000                
The Repurchase Program | Class A                    
Class of Stock [Line Items]                    
Shares authorized, value | $                 $ 60,000,000