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Employee benefit plans and compensation plans - Defined benefit plans - Additional information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Sweden      
Employee benefit plans and compensation plans      
Increase in the defined benefit obligation related to a 100 basis point decrease in the discount rate $ 2.7    
Germany      
Employee benefit plans and compensation plans      
Increase in the defined benefit obligation related to a 50 basis point decrease in the discount rate 0.7    
Decrease in the defined benefit obligation related to a 50 basis point increase in the discount rate 0.6    
Defined benefit plans      
Employee benefit plans and compensation plans      
Accumulated benefit obligation $ 20.3 $ 17.5 $ 17.4