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Income taxes, Unrecognized tax benefits (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015
Income Tax Contingency [Line Items] |  |  |
Unrecognized tax benefits, current | $ 800,000 | $ 500,000 |
Unrecognized tax benefits, noncurrent | 1,200,000 | 1,300,000 |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Gross unrecognized tax benefits, beginning balance | 1,761,000 | 1,457,000 | $ 1,248,000
Increases for tax positions for prior years | 0 | 5,000 | 150,000
Decreases for tax positions for prior years | 0 | 0 | 0
Increases for tax positions for current year | 531,000 | 299,000 | 59,000
Settlements | (318,000) | 0 | 0
Lapse of statute of limitations | 0 | 0 | 0
Gross unrecognized tax benefits, ending balance | $ 1,974,000 | $ 1,761,000 | $ 1,457,000
U.S. Federal Tax Authority [Member] | Minimum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2013 |  |
Federal income tax year selected for audit | 2011 |  |
U.S. Federal Tax Authority [Member] | Maximum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2016 |  |
Federal income tax year selected for audit | 2012 |  |
United Kingdom Tax Authority [Member] | Minimum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2008 |  |
United Kingdom Tax Authority [Member] | Maximum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2016 |  |
Canada Revenue Agency [Member] | Minimum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2010 |  |
Canada Revenue Agency [Member] | Maximum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2016 |  |

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- Definition Tax year that remains open to examination under enacted tax laws, in CCYY format. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32718-109319 + Details
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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=84230637&loc=SL6600010-109319 + Details
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