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Stockholders' equity (Details) $ in Thousands | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2020 USD ($) shares | Dec. 31, 2019 USD ($) shares | Dec. 31, 2018 USD ($) | Dec. 31, 2017 USD ($)
Class of Stock [Line Items] |  |  |  |
Stock options outstanding (shares) | 3,431,000 | 3,963,000 |  |
Common stock available for future grants (shares) | 48,184,000 |  |  |
Stockholders' Equity Note, Outstanding Shares Less than 10% of Aggregate Shares Outstanding, Conversion Ratio | 1 |  |  |
Stockholders' Equity Attributable to Parent | $ | $ 216,018 | $ 233,529 | $ 212,112 | $ 298,705
Treasury Stock [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Stockholders' Equity Attributable to Parent | $ | $ (113,613) | $ (113,613) | $ (113,613) | $ (113,613)
Common Class A [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Common stock authorized (shares) | 500,000,000 | 500,000,000 |  |
Common stock outstanding (shares) | 122,233,000 | 117,922,000 |  |
Common Stock, Voting Rights, Number | 1 |  |  |
Common Stock, Conversion Ratio | 1 |  |  |
Common Stock, Shares, Issued | 122,233,000 | 117,922,000 |  |
Common Stock, Voting Rights | one |  |  |
Common Stock, Voting Rights | one |  |  |
Common Class B [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Common stock authorized (shares) | 150,000,000 | 150,000,000 |  |
Common stock outstanding (shares) | 28,885,000 | 28,897,000 |  |
Common Stock, Voting Rights, Number | 10 |  |  |
Common Stock, Shares, Issued | 28,885,000 | 28,897,000 |  |
Common Stock, Voting Rights | ten |  |  |
Common Stock, Voting Rights | ten |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Restricted stock units outstanding (shares) | 10,639,000 | 8,225,000 |  |
Performance Shares [Member] |  |  |  |
Class of Stock [Line Items] |  |  |  |
Restricted stock units outstanding (shares) | 1,319,000 | 788,000 |  |
Common Stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Common stock available for future grants (shares) | 32,795,000 |  |  |

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