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Derivatives - fair value of derivative instruments (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Accrued expenses | Foreign currency forward contracts | Designated as Hedging Instrument    
Derivatives, Fair Value [Line Items]    
Derivatives designated as hedging instruments $ 338  
Accrued expenses | Foreign currency forward contracts | Not Designated as Hedging Instrument    
Derivatives, Fair Value [Line Items]    
Derivative Instruments and Hedges, Assets $ 13  
Prepaid expenses and other current assets | Not Designated as Hedging Instrument    
Derivatives, Fair Value [Line Items]    
Derivative Instruments and Hedges, Assets   $ 48