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Comprehensive loss - Reclassifications out of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance $ 30,152 $ 25,313 $ 29,640 $ 26,309
Balance 31,405 25,446 31,405 25,446
Accumulated Other Comprehensive Loss        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (948) (1,795) (938) (920)
Other comprehensive income (loss) before reclassifications, net of taxes (166) 221 (187) (663)
Total other comprehensive loss before reclassifications, net of taxes (1,114) (1,574) (1,125) (1,583)
Net amount reclassified to earnings 45 98 56 107
Balance (1,069) (1,476) (1,069) (1,476)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (433) (39) (444) (53)
Total other comprehensive loss before reclassifications, net of taxes (433) (39) (444) (53)
Net amount reclassified to earnings 11 11 22 25
Balance (422) (28) (422) (28)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance   (138)   33
Other comprehensive income (loss) before reclassifications, net of taxes (301)   (301) (166)
Total other comprehensive loss before reclassifications, net of taxes (301) (138) (301) (133)
Net amount reclassified to earnings 34 87 34 82
Balance (267) (51) (267) (51)
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (515) (1,618) (494) (900)
Other comprehensive income (loss) before reclassifications, net of taxes 135 221 114 (497)
Total other comprehensive loss before reclassifications, net of taxes (380) (1,397) (380) (1,397)
Balance $ (380) $ (1,397) $ (380) $ (1,397)