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Share-based compensation - Restricted Stock Units (Details) - Restricted stock units - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Shares      
Outstanding, beginning of period (in shares) 233,448 193,939 207,641
Granted (in shares) 98,463 137,582 78,595
Vested (in shares) (96,282) (79,623) (77,719)
Forfeited (in shares) (53,101) (18,450) (14,578)
Outstanding, end of period (in shares) 182,528 233,448 193,939
Weighted-Average Grant-Date Fair Value Per Share      
Outstanding, beginning of period (in dollars per share) $ 38.10 $ 40.89 $ 35.36
Granted (in dollars per share) 41.31 34.66 47.99
Vested (in dollars per share) 37.75 38.51 34.19
Forfeited (in dollars per share) 39.01 39.92 36.20
Outstanding, end of period (in dollars per share) $ 39.75 $ 38.10 $ 40.89
Total weighted-average grant-date fair value of shares granted (in millions) $ 4.1 $ 4.8 $ 3.8