Stockholders’ equity (Details) - USD ($)		12 Months Ended
	Dec. 23, 2021	Dec. 31, 2023	Dec. 31, 2022	Apr. 27, 2023	Apr. 27, 2022	Mar. 03, 2021
Class of Stock [Line Items]
Preferred Stock, Shares Issued	2,000	2,000	2,000
Payments of Stock Issuance Costs		$ 2.3
Preferred Stock, Liquidation Preference, Value	$ 25,000	25,000
Preferred Stock, Value, Issued		$ 50,000
Preferred Stock, Dividend Rate, Percentage	5.75%	5.75%
Dividends, Preferred Stock, Cash		$ (2,875,000)	$ (2,812,000)
Preferred Stock, Par or Stated Value Per Share		$ 0.01	$ 0.01
Stock Repurchase Program, Authorized Amount				$ 100,000,000	$ 100,000,000	$ 50,000,000
Stock Repurchased During Period, Value		$ 45,777,000
2022 Share repurchase program
Class of Stock [Line Items]
Treasury Stock, Value, Acquired, Cost Method		45,300,000	$ 51,300,000
Stock Repurchase Program, Remaining Authorized Repurchase Amount		$ 3,400,000
Stock Repurchased and Retired During Period, Shares		1,177,562	2,420,915
2021 Share Repurchase Program
Class of Stock [Line Items]
Stock Repurchased and Retired During Period, Shares			2,423,644
2023 Share Repurchase Plan
Class of Stock [Line Items]
Stock Repurchase Program, Remaining Authorized Repurchase Amount		$ 100,000,000
Preferred stock
Class of Stock [Line Items]
Dividends, Preferred Stock, Cash			$ (2,812,000)