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Share-based compensation - Changes in Share Based Compensation (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Restricted stock units        
Shares        
Outstanding, beginning of period (in shares) 202,133 208,345 182,528 233,448
Granted (in shares) 0 2,008 100,088 98,463
Vested (in shares) (1,035) (1,034) (81,112) (91,414)
Forfeited (in shares) (1,968) (366) (2,374) (31,544)
Outstanding, end of period (in shares) 199,130 208,953 199,130 208,953
Total weighted-average grant-date fair value of shares granted (at target performance levels) (in millions) $ 0.0 $ 0.1 $ 4.2 $ 4.1
Weighted-average grant-date fair value per share        
Outstanding, beginning of period (in dollars per share) $ 41.25 $ 39.71 $ 39.75 $ 38.10
Granted (in dollars per share) 0 42.15 42.41 41.31
Vested (in dollars per share) 44.31 44.31 39.37 37.65
Forfeited (in dollars per share) 42.49 38.07 41.79 38.77
Outstanding, end of period (in dollars per share) $ 41.22 $ 39.71 $ 41.22 $ 39.71
LTIP linked to TRS        
Shares        
Outstanding, beginning of period (in shares) 80,006 76,340 71,574 90,974
Granted (in shares) 0 390 27,123 26,469
Vested (in shares) 0 0 (18,691) (29,042)
Forfeited (in shares) (722) 0 (722) (11,671)
Outstanding, end of period (in shares) 79,284 76,730 79,284 76,730
Total weighted-average grant-date fair value of shares granted (at target performance levels) (in millions) $ 0.0 $ 0.0 $ 1.5 $ 1.5
Weighted-average grant-date fair value per share        
Outstanding, beginning of period (in dollars per share) $ 50.27 $ 47.70 $ 47.67 $ 42.86
Granted (in dollars per share) 0 54.92 55.98 54.92
Vested (in dollars per share) 0 0 48.62 41.07
Forfeited (in dollars per share) 48.92 0 48.92 42.60
Outstanding, end of period (in dollars per share) $ 50.28 $ 47.74 $ 50.28 $ 47.74
LTIP awards linked to other performance conditions        
Shares        
Outstanding, beginning of period (in shares) 355,310 292,151 309,589 306,342
Granted (in shares) 0 1,560 108,499 105,860
Vested (in shares) 0 0 (62,778) (71,807)
Increase above target (in shares) 6,001 0 6,001 0
Forfeited (in shares) (3,834) 0 (3,834) (46,684)
Outstanding, end of period (in shares) 357,477 293,711 357,477 293,711
Total weighted-average grant-date fair value of shares granted (at target performance levels) (in millions) $ 0.0 $ 0.1 $ 4.6 $ 4.4
Weighted-average grant-date fair value per share        
Outstanding, beginning of period (in dollars per share) $ 38.87 $ 39.89 $ 39.50 $ 38.42
Granted (in dollars per share) 0 42.37 42.41 41.31
Vested (in dollars per share) 0 0 48.07 37.68
Increase above target (in dollars per share) 36.08 0 36.08 0
Forfeited (in dollars per share) 43.53 0 43.53 36.77
Outstanding, end of period (in dollars per share) $ 38.78 $ 39.91 $ 38.78 $ 39.91