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Derivative instruments - Narrative (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Oct. 31, 2020
instrument
Apr. 30, 2017
instrument
Derivative [Line Items]          
Interest paid net $ 57,066 $ 52,458 $ 55,400    
Derivatives not designated as hedging instruments | Forward contracts          
Derivative [Line Items]          
Collected (paid) derivative Instrument 39 (787) (81)    
Cash Flow Hedging | Forward contracts          
Derivative [Line Items]          
Net collections (payments) to derivative instrument hedges 1,757 711 75    
Cash Flow Hedging | Cross-currency interest rate swap          
Derivative [Line Items]          
Interest paid net 4,031 8,692 10,671    
Cash Flow Hedging | Coupon-only swap          
Derivative [Line Items]          
Interest paid net 197 $ 2,036 $ 2,900    
Cash Flow Hedging | Derivatives designated as hedging instruments | Forward contracts          
Derivative [Line Items]          
Notional amount outstanding $ 20,276        
Cash Flow Hedging | Derivatives designated as hedging instruments | Cross-currency interest rate swap          
Derivative [Line Items]          
Number of instruments held | instrument       4  
Cash Flow Hedging | Subsidiaries | Cross-currency interest rate swap          
Derivative [Line Items]          
Percentage of principal and interest collections hedged (as a percent)         50.00%
Cash Flow Hedging | Subsidiaries | Call spread          
Derivative [Line Items]          
Number of instruments held | instrument         2
Percentage of principal and interest collections hedged (as a percent)         50.00%
Cash Flow Hedging | Subsidiaries | Coupon-only swap          
Derivative [Line Items]          
Number of instruments held | instrument         2
Percentage of principal and interest collections hedged (as a percent)         50.00%