Stock awards (Details 2) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share-based Payment Arrangement, Noncash Expense [Abstract]
Nonemployee director stock compensation shares issued	45,273	41,644	38,605
Fair value of nonemployee director stock compensation shares issued	$ 1.1	$ 1.2	$ 1.0

The number of shares or units of entity securities issued in the transaction in which equity securities were issued to pay for goods or nonemployee services.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iv)(1)
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

Name:	us-gaap_ShareBasedGoodsAndNonemployeeServicesTransactionQuantityOfSecuritiesIssued
Namespace Prefix:	us-gaap_
Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	duration