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Share-based compensation - Restricted Stock Units (Details) - Restricted stock units - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Shares      
Outstanding, beginning of period (in shares) 193,939 207,641 200,358
Granted (in shares) 137,582 78,595 96,565
Vested (in shares) (79,623) (77,719) (76,813)
Forfeited (in shares) (18,450) (14,578) (12,469)
Outstanding, end of period (in shares) 233,448 193,939 207,641
Weighted-Average Grant-Date Fair Value Per Share      
Outstanding, beginning of period (in dollars per share) $ 40.89 $ 35.36 $ 33.05
Granted (in dollars per share) 34.66 47.99 37.82
Vested (in dollars per share) 38.51 34.19 32.61
Forfeited (in dollars per share) 39.92 36.20 34.20
Outstanding, end of period (in dollars per share) $ 38.10 $ 40.89 $ 35.36
Total weighted-average grant-date fair value of shares granted (in millions) $ 4.8 $ 3.8 $ 3.7