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Stock incentive plans - Stock option awards (Details) - Stock options - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2020
Dec. 31, 2019
Stock incentive plans    
Vesting period 4 years  
Number of Options    
Outstanding at beginning of period (in shares) 235  
Exercised (in shares) (26)  
Canceled/forfeited (in shares) (19)  
Outstanding and exercisable at end of period (in shares) 190 235
Weighted Average Exercise Price    
Outstanding at beginning of period (in dollars per share) $ 7.67  
Exercised (in dollars per share) 7.03  
Canceled/forfeited (in dollars per share) 12.44  
Outstanding and exercisable at end of period (in dollars per share) $ 7.26 $ 7.67
Weighted-Average Remaining Contract Life (years)    
Outstanding and exercisable at end of period 2 years 8 months 12 days 2 years 7 months 6 days
Aggregate Intrinsic Value    
Outstanding and exercisable at end of period $ 693 $ 870
Vesting in 12 months    
Stock incentive plans    
Vesting period 12 months  
Vesting percentage 25.00%  
Vesting monthly 12 months after grant date    
Stock incentive plans    
Vesting percentage 75.00%