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Restructuring charges - Restructuring Liability (Details) - First quarter 2017 restructuring [Member] - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2017
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Restructuring Cost and Reserve [Line Items]        
Other Restructuring Costs   $ (57) $ 1,395 $ 4,783
Restructuring Reserve [Roll Forward]        
Restructuring liability as of October 1, 2016   4,470 5,667 3,550
Restructuring charges   (57) 1,395 4,783
Cash paid   (3,559) (2,257) (3,293)
Non-cash settlements     (335) (627)
Restructuring liability as of December 31, 2017   854 4,470 5,667
Employee Severance [Member]        
Restructuring Cost and Reserve [Line Items]        
Severance Costs $ 10,300 0 0 0
Restructuring Reserve [Roll Forward]        
Restructuring liability as of October 1, 2016   0 0 0
Cash paid   0 0 0
Non-cash settlements     0 0
Restructuring liability as of December 31, 2017   0 0 0
Other Restructuring [Member]        
Restructuring Reserve [Roll Forward]        
Restructuring liability as of October 1, 2016   4,470 5,667 3,550
Cash paid   (3,559) (2,257) (3,293)
Non-cash settlements     (335) (627)
Restructuring liability as of December 31, 2017   $ 854 $ 4,470 $ 5,667