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Employee plans - Summary of Restricted Stock Unit Activity (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Weighted-Average Grant-Date Fair Value
Granted (in dollars per share)	$ 28.33	$ 16.58
Restricted Stock Units
Restricted Stock Units
Outstanding at beginning of period (in shares)	2,040
Granted (in shares)	752
Vested (in shares)	(940)
Forfeited and expired (in shares)	(126)
Outstanding at end of period (in shares)	1,726	2,040
Weighted-Average Grant-Date Fair Value
Outstanding at beginning of period (in dollars per share)	$ 14.17
Granted (in dollars per share)	22.48
Vested (in dollars per share)	13.80
Forfeited and expired (in dollars per share)	16.10
Outstanding at end of period (in dollars per share)	$ 17.87	$ 14.17

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Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Forfeitures And Expirations In Period

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Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeitures and Expirations, Weighted Average Grant Date Fair Value

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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-Publisher FASB
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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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