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Share-based compensation - Assumptions to Determine the Fair Value of LTIP Awards Linked to TRS (Details) - LTIP linked to TRS - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Risk-free interest rate 2.48% 2.29% 1.46%
Expected life (in years) 3 years 3 years 3 years
Expected volatility 15.80% 17.00% 20.10%
Range of expected volatility for Peer Group, minimum 15.00% 15.10% 15.40%
Range of expected volatility for Peer Group, maximum 73.20% 26.20% 26.00%
Grant date fair value (in dollars per share) $ 41.07 $ 38.20 $ 39.51