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Compensation plans - Performance share awards assumptions used to estimate the fair value (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
May 16, 2019
Dec. 31, 2021
Dec. 31, 2019
Mar. 05, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Closing stock price on grant date (in dollars per share)       $ 34.24
Performance share awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value per performance share award (USD per share)     $ 50.40  
Performance share awards | June 3, 2019        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value per performance share award (USD per share)   $ 65.94    
Expense per performance share award (in dollars per share)   65.94    
Performance share awards | February 28, 2019        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value per performance share award (USD per share)   95.65    
Expense per performance share award (in dollars per share)   $ 95.65    
Incremental compensation expense $ 1.0      
Performance Shares with Market Criteria | June 3, 2019        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Remaining performance period on grant date   2 years 6 months 29 days    
Risk-free interest rate (as a percent)   1.78%    
Dividend yield (as a percent)   0.00%    
Expected volatility (as a percent)   55.45%    
Closing stock price on grant date (in dollars per share)   $ 51.80    
Fair value per performance share award (USD per share)   49.00    
Expense per performance share award (in dollars per share)   $ 49.00    
Performance Shares with Market Criteria | February 28, 2019        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Remaining performance period on grant date   2 years 7 months 17 days    
Risk-free interest rate (as a percent)   2.14%    
Dividend yield (as a percent)   0.00%    
Expected volatility (as a percent)   55.01%    
Closing stock price on grant date (in dollars per share)   $ 69.80    
Fair value per performance share award (USD per share)   79.61    
Expense per performance share award (in dollars per share)   $ 79.61    
RTSR Factor weight / TSR Modifier (as a percent)   25.00%    
ATSR Factor weight (as a percent)   25.00%    
Performance Shares with Performance Criteria | June 3, 2019        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Closing stock price on grant date (in dollars per share)   $ 51.80    
Fair value per performance share award (USD per share)   $ 51.80    
Estimated payout for expense (as a percent)   160.00%    
Expense per performance share award (in dollars per share)   $ 82.88    
Performance Shares with Performance Criteria | February 28, 2019        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Closing stock price on grant date (in dollars per share)   69.80    
Fair value per performance share award (USD per share)   $ 69.80    
Estimated payout for expense (as a percent)   160.00%    
Expense per performance share award (in dollars per share)   $ 111.68    
ROACE Factor weight (as a percent)   50.00%