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Long-term debt - Narrative (Details) - USD ($) |  |  |  |  |  |  |  |  |  | 1 Months Ended | 12 Months Ended |  |  |  |  |
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Oct. 15, 2020 | Oct. 13, 2020 | Sep. 28, 2020 | Sep. 27, 2020 | Sep. 11, 2020 | Mar. 29, 2017 | Mar. 29, 2017 | Mar. 16, 2017 | Jun. 14, 2016 | Jun. 01, 2016 | Oct. 15, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Apr. 30, 2017 | Sep. 27, 2013
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Deferred financing costs |  |  |  |  |  |  |  |  |  |  |  | $ 4,641,000 | $ 3,397,000 |  |  |  |  |  |
Short-term debt |  |  |  |  |  |  |  |  |  |  |  | 0 | 13,296,000 |  | $ 11,000,000 | $ 158,200,000 | $ 136,000,000 |  |
2023 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate principal amount issued |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 473,800,000
Deferred financing costs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 3,313,000
Redemption price, principal amount redeemed |  |  |  |  |  |  |  | $ 80,000,000 |  | $ 80,000,000 |  |  |  |  |  |  |  |  |
Redemption price (as a percent) |  |  |  |  | 102.25% |  | 107.00% | 104.00% | 101.00% | 98.00% |  |  |  |  |  |  |  |  |
Redemption price, percentage of principal amount redeemed |  |  |  |  |  | 11.60% |  |  | 16.90% |  |  |  |  |  |  |  |  |  |
Redemption price, amount |  |  |  |  |  | $ 48,885,000 | $ 48,885,000 |  | $ 80,800,000 |  |  |  |  |  |  |  |  |  |
Early tender payment |  |  |  |  |  | $ 3,187,000 |  |  | $ 800,000 |  |  |  |  |  |  |  |  |  |
Accrued interest effect of Secured Loan Agreement |  |  |  |  |  |  |  |  |  |  |  | 20,882,000 | 23,060,000 | $ 23,060,000 |  |  |  |  |
2023 Notes | Exchangeable Debt |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Redemption price, percentage of principal amount redeemed |  | 1.34% | 36.43% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, settlement amount |  |  |  | $ 1,000 |  |  |  |  |  |  | $ 1,000 |  |  |  |  |  |  |  |
Short-term debt |  | $ 4,675,000 | $ 126,801,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
2027 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate principal amount issued |  |  |  |  | $ 150,000,000 |  |  |  |  |  |  |  |  |  |  |  |  | $ 265,000,000 |
Deferred financing costs |  |  |  |  | $ 2,000,000 |  |  |  |  |  |  |  |  |  |  |  |  | $ 3,001,000 |
Accrued interest effect of Secured Loan Agreement |  |  |  |  |  |  |  |  |  |  |  | $ 20,269,000 | $ 15,569,000 | $ 15,569,000 |  |  |  |  |
2027 Notes | Exchangeable Debt |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, settlement amount | $ 1,000 |  |  | $ 1,055 |  |  |  |  |  |  | $ 1,005 |  |  |  |  |  |  |  |
Proceeds from issuance of debt | 133,668,000 |  | 4,686,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Accrued interest effect of Secured Loan Agreement | 180,100 |  | 7,100 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Payment for fractional potion of exchangeable debt | $ 107,100 |  | $ 12,400 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |

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