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Compensation plans - Performance shares award activity (Details) - $ / shares
12 Months Ended 36 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Performance share awards              
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]              
Outstanding at the beginning of the period (shares) 97,000 115,000 172,000 172,000      
Granted (shares)     29,000        
Converted from performance unit awards (shares)     78,000        
Forfeited (shares) (10,000) (10,000) (87,000)        
Lapsed (shares)   (8,000) (77,000)        
Vested (shares) (15,000)            
Outstanding at the end of the period (shares) 72,000 97,000 115,000 72,000 97,000 115,000 172,000
Weighted-average grant-date fair value (per award)              
Outstanding at the beginning of the period (USD per share) $ 84.06 $ 106.80 $ 274.80 $ 274.80      
Granted (USD per share)     50.40        
Converted from performance unit awards (USD per share)     74.80        
Forfeited (USD per share) 74.70 110.94 209.60        
Lapsed (USD per share)   379.20 346.20        
Vested (USD per share) 184.43            
Outstanding at the end of the period (USD per share) $ 64.74 $ 84.06 $ 106.80 $ 64.74 $ 84.06 $ 106.80 $ 274.80
Actual payout (as a percent)         43.00%    
Performance share conversion (in shares) 6,343            
February 16, 2018 | Performance Shares with Market Criteria              
Weighted-average grant-date fair value (per award)              
RTSR Factor weight / TSR Modifier (as a percent) 25.00%            
ATSR Factor weight (as a percent) 25.00%            
February 16, 2018 | Performance Shares with Performance Criteria              
Weighted-average grant-date fair value (per award)              
ROACE Factor weight (as a percent) 50.00%            
February 28, 2019 and June 3, 2019              
Weighted-average grant-date fair value (per award)              
Overall payout (as a percent)       107.00%      
April 1, 2016 and May 25, 2016 | Performance share awards | 2016 Performance Share Award              
Weighted-average grant-date fair value (per award)              
RTSR Factor weight / TSR Modifier (as a percent)             0.00%
February 17, 2017 | Performance share awards              
Weighted-average grant-date fair value (per award)              
RTSR Factor weight / TSR Modifier (as a percent)           0.00%