Long-term debt - Schedule of variable rate debt obligation (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Experience Vessel Financing [Member]
Debt Instrument [Line Items]
Debt instrument weighted average interest rate	4.80%	4.40%	5.10%
Experience Vessel Financing [Member] | Minimum [Member]
Debt Instrument [Line Items]
Debt instrument interest rate	3.50%	4.30%	4.40%
Experience Vessel Financing [Member] | Maximum [Member]
Debt Instrument [Line Items]
Debt instrument interest rate	6.80%	4.40%	6.10%
2017 Bank Loans [Member]
Debt Instrument [Line Items]
Debt instrument weighted average interest rate	5.20%	4.30%	5.40%
2017 Bank Loans [Member] | Minimum [Member]
Debt Instrument [Line Items]
Debt instrument interest rate	2.60%	2.60%	3.60%
2017 Bank Loans [Member] | Maximum [Member]
Debt Instrument [Line Items]
Debt instrument interest rate	7.00%	4.70%	6.50%
EE Revolver [Member]
Debt Instrument [Line Items]
Debt instrument weighted average interest rate	3.90%
EE Revolver [Member] | Minimum [Member]
Debt Instrument [Line Items]
Debt instrument interest rate	3.90%
EE Revolver [Member] | Maximum [Member]
Debt Instrument [Line Items]
Debt instrument interest rate	3.90%