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Comprehensive loss - Reclassifications out of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance $ 25,532 $ 29,575
Balance 29,640 25,532
Accumulated Other Comprehensive Loss    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (920) (15)
Other comprehensive income (loss) before reclassifications, net of taxes 300 612
Total other comprehensive income (loss) before reclassifications, net of taxes (620) 597
Net amount reclassified to earnings (318) (1,517)
Balance (938) (920)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (53) 1,451
Total other comprehensive income (loss) before reclassifications, net of taxes (53) 1,451
Net amount reclassified to earnings (391) (1,504)
Balance (444) (53)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance 33  
Other comprehensive income (loss) before reclassifications, net of taxes (106) 46
Total other comprehensive income (loss) before reclassifications, net of taxes (73) 46
Net amount reclassified to earnings 73 (13)
Balance   33
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (900) (1,466)
Other comprehensive income (loss) before reclassifications, net of taxes 406 566
Total other comprehensive income (loss) before reclassifications, net of taxes (494) (900)
Balance $ (494) $ (900)