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Loss per share - Narrative (Details) - $ / shares	3 Months Ended		6 Months Ended
Loss per share - Narrative (Details) - $ / shares	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	May 28, 2019
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Maximum number of shares issuable if debt was converted (in shares)	9,277,305		9,277,305
Stock Compensation Plan
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares excluded from calculation (in shares)	762,418	866,008	798,616	649,349
Convertible Debt Securities
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares excluded from calculation (in shares)	9,277,305	9,277,305	9,277,305	9,277,305
Convertible Senior Notes \| 4% Convertible Senior Dotes due 2024
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Initial conversion price (in dollars per share)	$ 22.3125		$ 22.3125		$ 22.3125