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Share-based compensation plans - Activity Related to PCSUs, Restricted Stock Units and Deferred Compensation Plans (Details)
12 Months Ended
Dec. 31, 2020
$ / shares
shares
Performance Contingent Restricted Stock Units  
Number of Shares  
Beginning Balance (in shares) 531,933
Granted (in shares) 153,219
Performance adjustments (in shares) (125,917)
Vested (in shares) 0
Converted (in shares) (208,850)
Cancelled (in shares) (29,130)
Dividend equivalents (in shares) 2,299
Ending Balance (in shares) 323,554
Average Grant Date Fair Value per Share  
Beginning Balance, weighted-average grant date fair value (usd per share) | $ / shares $ 44.65
Granted, weighted-average grant date fair value (usd per share) | $ / shares 52.00
Performance adjustments, weighted-average grant date fair value (usd per share) | $ / shares 51.03
Converted, weighted-average grant date fair value (usd per share) | $ / shares 37.95
Cancelled, weighted-average grant date fair value (usd per share) | $ / shares 55.04
Dividend equivalents, weighted-average grant date fair value (usd per share) | $ / shares 59.43
Ending Balance, weighted-average grant date fair value (usd per share) | $ / shares $ 49.15
Performance Contingent Restricted Stock Units | Nonvested  
Number of Shares  
Beginning Balance (in shares) 298,836
Granted (in shares) 153,219
Performance adjustments (in shares) (125,917)
Vested (in shares) 139,886
Converted (in shares) 0
Cancelled (in shares) (29,130)
Dividend equivalents (in shares) 0
Ending Balance (in shares) 157,122
Performance Contingent Restricted Stock Units | Vested  
Number of Shares  
Beginning Balance (in shares) 233,097
Granted (in shares) 0
Performance adjustments (in shares) 0
Vested (in shares) 139,886
Converted (in shares) (208,850)
Cancelled (in shares) 0
Dividend equivalents (in shares) 2,299
Ending Balance (in shares) 166,432
Restricted Stock Awards  
Number of Shares  
Beginning Balance (in shares) 251,285
Granted (in shares) 146,937
Vested (in shares) 0
Converted (in shares) (85,612)
Cancelled (in shares) (32,305)
Dividend equivalents (in shares) 5,141
Ending Balance (in shares) 285,446
Average Grant Date Fair Value per Share  
Beginning Balance, weighted-average grant date fair value (usd per share) | $ / shares $ 46.14
Granted, weighted-average grant date fair value (usd per share) | $ / shares 54.16
Converted, weighted-average grant date fair value (usd per share) | $ / shares 45.29
Cancelled, weighted-average grant date fair value (usd per share) | $ / shares 50.32
Dividend equivalents, weighted-average grant date fair value (usd per share) | $ / shares 54.28
Ending Balance, weighted-average grant date fair value (usd per share) | $ / shares $ 50.19
Restricted Stock Awards | Nonvested  
Number of Shares  
Beginning Balance (in shares) 156,577
Granted (in shares) 146,937
Vested (in shares) 63,976
Converted (in shares) 0
Cancelled (in shares) (32,305)
Dividend equivalents (in shares) 2,350
Ending Balance (in shares) 209,583
Restricted Stock Awards | Vested  
Number of Shares  
Beginning Balance (in shares) 94,708
Granted (in shares) 0
Vested (in shares) 63,976
Converted (in shares) (85,612)
Cancelled (in shares) 0
Dividend equivalents (in shares) 2,791
Ending Balance (in shares) 75,863
Deferred Compensation Plans  
Number of Shares  
Beginning Balance (in shares) 367,147
Deferred (in shares) 53,272
Converted (in shares) (59,971)
Dividend equivalents (in shares) 11,965
Ending Balance (in shares) 372,413