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Share-based compensation plans - Additional Information (Details)
$ / shares in Units, $ in Thousands
12 Months Ended 48 Months Ended
Dec. 31, 2020
USD ($)
installment
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
USD ($)
$ / shares
shares
Dec. 31, 2019
Apr. 17, 2019
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Maximum number of shares of common stock issued (in shares) | shares         12,000,000
Shares available for grant (in shares) | shares 9,877,022        
Compensation cost for share-based payment arrangements $ 10,607 $ 14,334 $ 10,730    
Related tax benefit recognized in net income 2,686 3,500 2,678    
Additional net excess tax benefit realized 2,528 3,520 3,528    
Noncash stock-based compensation associated performance contingent restricted stock units 2,023 5,171 4,725    
Compensation deferrals in current year $ 2,593 $ 2,585 $ 1,452    
Stock Appreciation Rights (SARs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage 33.33%        
Expected life of SARs   6 years 6 years    
Total unrecognized compensation cost related to nonvested awards $ 501        
Weighted-average period 13 months        
Aggregate intrinsic value of options and SARs exercised $ 2,771 $ 11,836 $ 9,029    
Weighted-average fair value of awards granted (usd per share) | $ / shares   $ 8.30 $ 6.55    
Weighted average remaining contractual life for SAR's, outstanding 6 years 9 months 18 days        
Weighted average remaining contractual life for SAR's, exercisable 6 years 3 months 18 days        
Aggregate intrinsic value for SAR's, outstanding $ 7,474        
Aggregate intrinsic value for SAR's, exercisable $ 6,077        
Fair market value of the Company’s stock used to calculate intrinsic value (usd per share) | $ / shares $ 59.25        
Stock Appreciation Rights (SARs) | Granted 2015 through 2019          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Minimum vesting period       3 years  
Term of award 10 years        
Unvested award termination period upon change in control 2 years        
Stock Appreciation Rights (SARs) | Awarded after 2019          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Minimum vesting period       3 years  
Stock Options and Stock Appreciation Rights Sars          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Compensation cost for share-based payment arrangements $ 1,442 $ 3,227 $ 2,415    
Performance Shares          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Total unrecognized compensation cost related to nonvested awards $ 4,430        
Weighted-average period 21 months        
Performance period 3 years        
Number of common shares to be converted into for each share upon conversion 1        
Granted, weighted-average grant date fair value (usd per share) | $ / shares $ 52.00 $ 56.04 $ 46.33    
Performance Shares | 2020 PCSU          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Performance period 3 years        
Total performance contingent restricted stock units vested , minimum (in shares) | shares 0        
Total performance contingent restricted stock units, maximum (in shares) | shares 304,370        
Performance Shares | 2019 PCSU          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Performance period 3 years        
Total performance contingent restricted stock units vested , minimum (in shares) | shares 0        
Total performance contingent restricted stock units, maximum (in shares) | shares 166,080        
Performance Shares | 2018 PCSU          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vested units in period (in shares) | shares 139,886        
Fair value of vested units $ 8,288        
Performance Shares | 2017 PCSU          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vested units in period (in shares) | shares   84,522      
Fair value of vested units   $ 5,217      
Performance Shares | 2016 PCSU          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vested units in period (in shares) | shares     132,534    
Fair value of vested units     $ 7,042    
Restricted Stock Awards          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vested units in period (in shares) | shares 0        
Granted, weighted-average grant date fair value (usd per share) | $ / shares $ 54.16        
Restricted Stock Awards | Executives and Directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Total unrecognized compensation cost related to nonvested awards $ 5,468        
Weighted-average period 33 months        
Noncash stock-based compensation associated performance contingent restricted stock units $ 4,549 3,351 2,138    
Restricted Stock Awards | Share-based Compensation Award, Tranche One | Executives and Directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage 33.33%        
Restricted Stock Awards | Share-based Compensation Award, Tranche Two | Executives and Directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage 33.33%        
Restricted Stock Awards | Share-based Compensation Award, Tranche Three | Executives and Directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage 33.33%        
Restricted Stock Units (RSUs) | Executive Officers and Key Management Employees          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Minimum vesting period 3 years        
Restricted Stock Units (RSUs) | Executives and Directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Minimum vesting period 5 years        
Fair value of vested units $ 3,277 $ 3,217 $ 6,900    
Granted, weighted-average grant date fair value (usd per share) | $ / shares $ 54.16 $ 57.76 $ 48.36    
Restricted Stock Units (RSUs) | Share-based Compensation Award, Tranche Three | Executives and Directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage 33.33%        
Restricted Stock Units (RSUs) | Share-based Compensation Award, Tranche Four | Executives and Directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage 33.33%        
Restricted Stock Units (RSUs) | Share-based Compensation Award, Tranche Five | Executives and Directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage 33.33%        
Deferred Stock Equivalent Units | Share-based Compensation Award, Tranche One | Non-employee directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of annual distribution installments | installment 1        
Deferred Stock Equivalent Units | Share-based Compensation Award, Tranche Two | Non-employee directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of annual distribution installments | installment 3        
Deferred Stock Equivalent Units | Share-based Compensation Award, Tranche Three | Non-employee directors          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of annual distribution installments | installment 5