Basis of presentation - Schedule of Earnings Per Share (Details) - shares	3 Months Ended		6 Months Ended
	Jun. 30, 2020	Jun. 30, 2019	Jun. 30, 2020	Jun. 30, 2019
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Weighted average shares outstanding - basic (in shares)	131,014,000	132,062,000	130,813,000	132,156,000
Plus: Common share equivalents
RSUs (in shares)	588,000	911,000	686,000	1,016,000
Weighted average shares outstanding-diluted (in shares)	131,602,000	132,973,000	131,499,000	133,172,000
Anti-dilutive securities excluded from the computation of diluted EPS (in shares)	1,206,000	861,000	249,000	395,800