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Authorized shares of common and preferred stock and stock-based compensation plans (Details) - $ / shares
3 Months Ended 6 Months Ended
May 14, 2013
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
May 08, 2020
Dec. 31, 2019
May 14, 2019
May 12, 2015
May 13, 2013
May 11, 2010
May 31, 2005
Jan. 21, 2004
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Additional number of shares reserved for issuance (in shares) 180,000,000                        
Common stock, authorized (in shares) 360,000,000 360,000,000   360,000,000     360,000,000     360,000,000      
Common and preferred stock shares authorized (in shares)                   365,000,000      
Preferred stock, authorized (in shares)   5,000,000   5,000,000     5,000,000     5,000,000      
Preferred stock, par value per share (in usd per share)   $ 0.01   $ 0.01     $ 0.01     $ 0.01      
Common stock, par value per share (in usd per share)   $ 0.01   $ 0.01     $ 0.01     $ 0.01      
Number of shares reserved for issuance                 2,518,416   3,362,304    
Preferred stock, issued (in shares)   0   0     0            
Preferred stock, outstanding (in shares)   0   0     0            
Common stock repurchased (in shares)   503,326 1,114,500 668,199 2,149,598                
Common stock repurchased, average cost per share   $ 34.08 $ 41.25 $ 35.44 $ 42.97                
Authorized common stock available for repurchase (in shares)   2,331,801   2,331,801                  
Incentive Plan (2005) | Restricted Stock Plan                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Number of shares reserved for issuance                       4,050,000  
Incentive Plan (2005) | Restricted Stock Plan | One to three year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       3 years                  
Incentive Plan (2005) | Restricted Stock Plan | Three to Five year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       5 years                  
Incentive Plan (2005) | Restricted Stock Plan | Ten year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       10 years                  
Incentive Plan (2010)                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Number of shares reserved for issuance                 2,518,416        
Incentive Plan (2010) | Restricted Stock Plan                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Common stock, authorized (in shares)                     3,000,000    
Incentive Plan (2010) | Restricted Stock Plan | One to three year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       3 years                  
Incentive Plan (2010) | Restricted Stock Plan | Three to Five year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       5 years                  
Incentive Plan (2010) | Restricted Stock Plan | Ten year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       10 years                  
Incentive Plan (2015)                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Number of shares reserved for issuance           567,142     3,000,000        
Shares available for grant under 2015 restricted stock plan (in shares)           567,142              
Incentive Plan (2015) | Restricted Stock Plan | One to three year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       3 years                  
Incentive Plan (2015) | Restricted Stock Plan | Three to Five year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       5 years                  
Incentive Plan (2015) | Restricted Stock Plan | Ten year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       10 years                  
Incentive Plan (2015) | Restricted Stock Plan | Four year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       4 years                  
Incentive Plan (2020)                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Number of shares reserved for issuance           4,500,000              
Shares available for grant under 2015 restricted stock plan (in shares)   5,104,408   5,104,408                  
Incentive Plan (2020) | Restricted Stock Plan | One to three year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       1 year                  
Incentive Plan (2020) | Restricted Stock Plan | Three to Five year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       3 years                  
Incentive Plan (2020) | Restricted Stock Plan | Four year vesting period                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Award vesting period (in years)       4 years                  
Employee Stock Purchase Plan                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Common stock, authorized (in shares)               3,000,000          
Percentage of the lower of the market related to purchase of common stock   85.00%   85.00%                  
Maximum employee subscription rate   15.00%   15.00%                  
Common stock reserved for future issuance under employee stock purchase plan (in shares)   3,577,369   3,577,369                  
Shares issued under employee stock purchase plan (in shares)       508,401                  
Weighted average purchase price of employees' purchase rights (in usd per share)       $ 33.93                  
Series A Preferred Stock                          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                          
Preferred stock, authorized (in shares)                         750,000