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Stock-based compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation cost related to nonvested awards $ 10,214 $ 7,089 $ 7,207
Dividends declared not paid on restricted stock units $ 238 $ 149 226
2016-LTIP Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares available for issuable (in shares) 2,240,434 2,377,574  
ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares reserved for issuance (in shares) 2,379,006 2,409,185  
RSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Fair value of restricted stock units vested and released $ 5,619 $ 9,923 $ 4,562
Weighted average grant date fair value price of restricted stock granted (in USD per share) $ 31.35 $ 34.08 $ 39.55
Compensation cost related to nonvested awards $ 9,213 $ 7,089 $ 7,436
Awards granted (in shares) 420,521,000    
Forfeitures (in shares) 22,132,000    
Vesting (in shares) 177,581,000    
RSUs | Independent Directors      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation cost related to nonvested awards $ 898 724 $ 645
Stock-Settled EBI Units and RSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Unrecognized compensation cost related to nonvested awards $ 13,436    
Expected weighted-average period to be recognized 2 years 6 months    
Dividends declared not paid on restricted stock units $ 613 $ 375  
PSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation cost related to nonvested awards 1,001    
Unrecognized compensation cost related to nonvested awards $ 2,482    
Expected weighted-average period to be recognized 2 years 1 month 6 days    
Criteria period 3 years    
Vesting period 3 years    
Awards granted (in shares) 53,147    
Award vesting, percentage 181.00%    
Forfeitures (in shares) 0    
Vesting (in shares) 0    
Employee Stock | ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares available for issuable (in shares) 200,000    
Purchase price percentage of subsequent offering periods 95.00%    
Maximum number of shares per participant (in shares) 725    
Maximum worth of award per participant $ 25    
Shares issued under plan (in shares) 30,179,000 23,171,000  
Minimum | PSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Core return threshold percentages 0.00%    
Maximum | PSUs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Core return threshold percentages 200.00%