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Share-based compensation plans - Activity Related to PCSUs, Restricted Stock Units and Deferred Compensation Plans (Details)
12 Months Ended
Dec. 31, 2019
$ / shares
shares
Performance Contingent Restricted Stock Units  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning Balance (in shares) 651,819
Granted (in shares) 115,412
Performance adjustments (in shares) (42,866)
Vested (in shares) 0
Converted (in shares) (177,902)
Cancelled (in shares) (18,720)
Dividend equivalents (in shares) 4,190
Ending Balance (in shares) 531,933
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]  
Beginning Balance, weighted-average grant date fair value (usd per share) | $ / shares $ 40.21
Granted, weighted-average grant date fair value (usd per share) | $ / shares 56.04
Performance adjustments, weighted-average grant date fair value (usd per share) | $ / shares 45.75
Converted, weighted-average grant date fair value (usd per share) | $ / shares 35.55
Cancelled, weighted-average grant date fair value (usd per share) | $ / shares 47.75
Dividend equivalents, weighted-average grant date fair value (usd per share) | $ / shares 60.42
Ending Balance, weighted-average grant date fair value (usd per share) | $ / shares $ 44.65
Performance Contingent Restricted Stock Units | Nonvested  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning Balance (in shares) 329,532
Granted (in shares) 115,412
Performance adjustments (in shares) (42,866)
Vested (in shares) 84,522
Converted (in shares) 0
Cancelled (in shares) (18,720)
Dividend equivalents (in shares) 0
Ending Balance (in shares) 298,836
Performance Contingent Restricted Stock Units | Vested  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning Balance (in shares) 322,287
Granted (in shares) 0
Performance adjustments (in shares) 0
Vested (in shares) 84,522
Converted (in shares) (177,902)
Cancelled (in shares) 0
Dividend equivalents (in shares) 4,190
Ending Balance (in shares) 233,097
Restricted Stock Awards  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning Balance (in shares) 309,795
Granted (in shares) 69,686
Vested (in shares) 0
Converted (in shares) (114,981)
Cancelled (in shares) (18,701)
Dividend equivalents (in shares) 5,486
Ending Balance (in shares) 251,285
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]  
Beginning Balance, weighted-average grant date fair value (usd per share) | $ / shares $ 38.41
Granted, weighted-average grant date fair value (usd per share) | $ / shares 57.76
Converted, weighted-average grant date fair value (usd per share) | $ / shares 40.00
Cancelled, weighted-average grant date fair value (usd per share) | $ / shares 50.69
Dividend equivalents, weighted-average grant date fair value (usd per share) | $ / shares 60.71
Ending Balance, weighted-average grant date fair value (usd per share) | $ / shares $ 46.14
Restricted Stock Awards | Nonvested  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning Balance (in shares) 158,381
Granted (in shares) 69,686
Vested (in shares) 54,352
Converted (in shares) 0
Cancelled (in shares) (18,701)
Dividend equivalents (in shares) 1,563
Ending Balance (in shares) 156,577
Restricted Stock Awards | Vested  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning Balance (in shares) 151,414
Granted (in shares) 0
Vested (in shares) 54,352
Converted (in shares) (114,981)
Cancelled (in shares) 0
Dividend equivalents (in shares) 3,923
Ending Balance (in shares) 94,708
Deferred Compensation Plans  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning Balance (in shares) 390,354
Deferred (in shares) 46,065
Converted (in shares) (80,288)
Dividend equivalents (in shares) 11,016
Ending Balance (in shares) 367,147