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Summary of changes in outstanding options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Options exercisable remaining term 4 years 9 months 17 days  
Share-based Payment Arrangement, Option [Member]    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Options outstanding, shares 104,755 120,089
Options outstanding, weighted avg exercise price $ 37.93 $ 35.33
Options outstanding remaining term 5 years 1 month 4 days 5 years 3 months 18 days
Options outstanding, weighted avg grant date fair value $ 1,416 $ 1,531
Options exercised, shares (15,334)  
Options exercised, weighted avg exercise price $ 17.54  
Options exercised, weighted avg grant date fair value $ (115)  
Options exercisable, shares 92,407  
Options exercisable, weighted avg exercise price $ 36.87  
Options exercisable, weighted avg grant date fair value $ 1,212  
Options vested, shares 0  
Options vested, weighted avg grant date fair value $ 0