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Ordinary shares - Narrative (Details)
3 Months Ended 9 Months Ended
Jun. 12, 2020
USD ($)
shares
Sep. 30, 2020
€ / shares
shares
Sep. 30, 2020
USD ($)
Sep. 30, 2019
USD ($)
Jun. 12, 2020
€ / shares
Dec. 31, 2019
€ / shares
shares
Dec. 14, 2018
USD ($)
Class of Stock [Line Items]              
Amount of ordinary shares authorized for repurchase | $             $ 100,000,000.0
Ordinary shares purchased under repurchase program (in shares)   0          
Ordinary shares issued (in shares) 4,878,049            
Ordinary shares, par value (in dollars per share) | € / shares   € 0.10     € 0.10 € 0.10  
Cash consideration, after customary closing costs, for issuance of common stock | $ $ 19,600,000   $ 19,558,000 $ 0      
Ordinary shares, outstanding (in shares)   134,496,340       129,121,576  
Restricted Shares and Performance Share Awards              
Class of Stock [Line Items]              
Shares outstanding (in shares)   3,478,147          
Restricted Share Units              
Class of Stock [Line Items]              
Shares outstanding (in shares)   22,656