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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, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Risk-free interest rate 1.39% 2.48% 2.29%
Expected life (in years) 3 years 3 years 3 years
Expected volatility 13.10% 15.80% 17.00%
Range of expected volatility for Peer Group, minimum 13.60% 15.00% 15.10%
Range of expected volatility for Peer Group, maximum 95.40% 73.20% 26.20%
Grant date fair value (in dollars per share) $ 48.62 $ 41.07 $ 38.20