Basis of presentation - Schedule of Earnings Per Share (Details) - shares	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Weighted average shares outstanding - basic (in shares)	131,419,000	131,385,000	131,017,000	131,896,000
Plus: Common share equivalents
RSUs (in shares)	0	504,000	654,000	994,000
Weighted average shares outstanding-diluted (in shares)	131,419,000	131,889,000	131,671,000	132,890,000
Anti-dilutive securities excluded from the computation of diluted EPS (in shares)	3,490,700	1,611,000	276,000	568,000