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Stock plans - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Shares or units awarded |  | 2,548 |  |
Unrecognized compensation expense |  | $ 92 |  |
2008 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Shares or units awarded | 673 |  |  |
Number of nonvested restricted stock awards | 6,379 |  |  |
Forfeited shares | 763 |  |  |
Share based compensation expense | $ 122 | 123 | $ 156 |
2017 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Common stock available for grant as awards | 72,535 |  |  |
Forfeited shares | 306 |  |  |
Share based compensation expense | $ 433 | $ 149 | $ 21 |
Non-Performance-based restricted stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Shares or units vesting period |  | 3 years |  |
Non-Performance-based restricted stock | 2008 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Shares or units awarded |  | 2,548 |  |
Vested shares | 2,493 |  |  |
Non-Performance-based restricted stock | 2017 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Shares or units awarded | 3,855 | 2,140 |  |
Vested shares | 114 |  |  |
Performance-based restricted stock units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Shares or units vesting period |  | 3 years |  |
Cumulative diluted earnings per share period used for conditions for vesting of performance-based restricted stock units |  | 3 years |  |
Average return on equity period used for conditions for vesting of performance-based restricted stock units |  | 3 years |  |
Performance-based restricted stock units | 2008 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Number of nonvested restricted stock awards |  | 8,920 |  |
Performance-based restricted stock units | 2017 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Number of nonvested restricted stock awards | 13,490 | 928 |  |
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Granted shares | 17,345 | 11,468 | 10,628 |
Vested shares | 10,120 | 2,607 | 10,542 |
Number of nonvested restricted stock awards | 27,465 | 21,309 | 12,448 | 12,362
Forfeited shares | 1,069 |  |  |
Shares or units cliff vesting period |  | 5 years |  |
Unrecognized compensation expense | $ 486 |  |  |
Weighted average vesting period | 1 year 9 months 18 days |  |  |

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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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