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Income taxes (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Income Tax Disclosure [Abstract]        
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent 27.80% 24.10% 26.70% 23.90%