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Loss per share - Narrative (Details) - $ / shares	3 Months Ended		9 Months Ended
Loss per share - Narrative (Details) - $ / shares	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 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)	665,130	963,171	758,551	741,120
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 \| 4.00% Convertible Senior Notes due 2024 (Carrying value)
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Initial conversion price (in dollars per share)	$ 22.3125		$ 22.3125		$ 22.3125