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Comprehensive loss - Reclassifications out of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance $ 29,640 $ 26,309
Balance 30,152 25,313
Accumulated Other Comprehensive Loss    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (938) (920)
Other comprehensive loss before reclassifications, net of taxes (21) (884)
Total other comprehensive loss before reclassifications, net of taxes (959) (1,804)
Net amount reclassified to earnings 11 9
Balance (948) (1,795)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (444) (53)
Total other comprehensive loss before reclassifications, net of taxes (444) (53)
Net amount reclassified to earnings 11 14
Balance (433) (39)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance   33
Other comprehensive loss before reclassifications, net of taxes   (166)
Total other comprehensive loss before reclassifications, net of taxes   (133)
Net amount reclassified to earnings   (5)
Balance   (138)
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (494) (900)
Other comprehensive loss before reclassifications, net of taxes (21) (718)
Total other comprehensive loss before reclassifications, net of taxes (515) (1,618)
Balance $ (515) $ (1,618)