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Stockholders' equity - Changes in Preferred Stock, Common Stock and Treasury Stock (Details) - shares shares in Millions | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Preferred Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Beginning Balance (in shares) | 0.0 | 0.0 | 2.6
Common stock repurchases (in shares) |  |  | 0.0
Stock-based compensation (in shares) | 0.0 | 0.0 | 0.0
Preferred stock conversion (in shares) |  |  | (2.6)
Ending Balance (in shares) | 0.0 | 0.0 | 0.0
Common Stocks |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Beginning Balance (in shares) | 52.6 | 52.4 | 45.1
Common stock repurchases (in shares) |  |  | 0.0
Stock-based compensation (in shares) | 0.2 | 0.2 | 0.4
Preferred stock conversion (in shares) |  |  | 6.9
Ending Balance (in shares) | 52.8 | 52.6 | 52.4
Treasury Stock |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |
Beginning Balance (in shares) | 2.7 | 2.7 | 1.1
Common stock repurchases (in shares) |  |  | 1.6
Stock-based compensation (in shares) | 0.0 | 0.0 | 0.0
Preferred stock conversion (in shares) |  |  | 0.0
Ending Balance (in shares) | 2.7 | 2.7 | 2.7

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- Definition Number of shares of stock issued as of the balance sheet date, including shares that had been issued and were previously outstanding but which are now held in the treasury. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6928386&loc=d3e21463-112644 + Details
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- Definition Number of shares issued during the period as a result of the conversion of convertible securities. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI http://asc.fasb.org/extlink&oid=27012166&loc=d3e187085-122770 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29-30) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6928386&loc=d3e21463-112644 Reference 4: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=6928386&loc=d3e21475-112644 + Details
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- Definition Number of shares (or other type of equity) issued during the period as a result of any equity-based compensation plan other than an employee stock ownership plan (ESOP), net of any shares forfeited. Shares issued could result from the issuance of restricted stock, the exercise of stock options, stock issued under employee stock purchase plans, and/or other employee benefit plans. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(29)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6928386&loc=d3e21463-112644 Reference 4: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI http://asc.fasb.org/extlink&oid=27012166&loc=d3e187085-122770 + Details
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