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Stock option activity (Details) - Stock Options
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2016
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award  
Weighted Average Exercise Price of Shares Outstanding at Beginning of Period | $ / shares $ 23.02
Weighted Average Exercise Price of Shares Exercised | $ / shares 21.01
Weighted Average Exercise Price of Shares Outstanding at End of Period | $ / shares 23.97
Weighted Average Exercise Price of Exercisable Shares | $ / shares $ 23.97
Weighted Average Remaining Contractual Term of Outstanding Options 2 years 8 months 12 days
Weighted Average Remaining Contractual Term of Exercisable Option 2 years 8 months 12 days
Options Outstanding, Intrinsic Value | $ $ 10.3
Options, Exercisable, Intrinsic Value | $ $ 10.3
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding  
Shares Outstanding at Beginning of Period | shares 759
Shares Exercised | shares (242)
Shares Outstanding at End of Period | shares 517
Shares Exercisable | shares 517