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Shareholders' equity - Schedule of Accumulated Other Comprehensive Income (Loss) (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start $ 421,566 $ 392,759 $ 496,142  
Net current-period other comprehensive (loss) income (65,378) (16,537) (73,053)  
Balance at period end 198,016 421,566 $ 392,759 $ 496,142
Accounting Standards Update [Extensible List]     us-gaap:AccountingStandardsUpdate201712Member Accounting Standards Update 2014-09
Cumulative Effect, Period of Adoption, Adjustment        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start   0 $ (3,796)  
Balance at period end     0 $ (3,796)
Accumulated other comprehensive loss        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start (519,505) (502,266) (429,347)  
Other comprehensive (loss) income before reclassifications (22,267) (17,408) (49,526)  
Net (income) loss reclassified from accumulated other comprehensive income to consolidated statement of income (43,088) 949 (23,393)  
Net current-period other comprehensive (loss) income (65,355) (16,459) (72,919)  
Net current-period other comprehensive (loss) income   (17,239)    
Balance at period end (584,860) (519,505) (502,266) (429,347)
Accumulated other comprehensive loss | Cumulative Effect, Period of Adoption, Adjustment        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start   (780)    
Balance at period end     (780)  
    Foreign currency translation        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start (511,445) (499,277) (436,281)  
Other comprehensive (loss) income before reclassifications (76,359) (12,168) (62,996)  
Net (income) loss reclassified from accumulated other comprehensive income to consolidated statement of income 0 0 0  
Net current-period other comprehensive (loss) income (76,359)   (62,996)  
Net current-period other comprehensive (loss) income   (12,168)    
Balance at period end (587,804) (511,445) (499,277) (436,281)
    Foreign currency translation | Cumulative Effect, Period of Adoption, Adjustment        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start   0    
Balance at period end     0  
  Cash flow hedges        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start   (1,640) 8,359  
Other comprehensive (loss) income before reclassifications     13,888  
Net (income) loss reclassified from accumulated other comprehensive income to consolidated statement of income     (23,887)  
Net current-period other comprehensive (loss) income     (9,999)  
Balance at period end     (1,640) 8,359
  Cash flow hedges        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start (7,520)      
Other comprehensive (loss) income before reclassifications 54,287 (5,185)    
Net (income) loss reclassified from accumulated other comprehensive income to consolidated statement of income (43,324) 85    
Net current-period other comprehensive (loss) income 10,963      
Net current-period other comprehensive (loss) income   (5,880)    
Balance at period end 3,443 (7,520)    
  Cash flow hedges | Cumulative Effect, Period of Adoption, Adjustment        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start   (780)    
Balance at period end     (780)  
Post-employment benefits        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start (540) (1,349) (1,425)  
Other comprehensive (loss) income before reclassifications (195) (55) (418)  
Net (income) loss reclassified from accumulated other comprehensive income to consolidated statement of income 236 864 494  
Net current-period other comprehensive (loss) income 41   76  
Net current-period other comprehensive (loss) income   809    
Balance at period end $ (499) (540) (1,349) $ (1,425)
Post-employment benefits | Cumulative Effect, Period of Adoption, Adjustment        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Balance at period start   $ 0    
Balance at period end     $ 0  
Venezuela | Post-employment benefits        
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]        
Salary period paid upon employee leaving 30 days