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Comprehensive loss - Reclassifications out of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance $ 31,405 $ 24,522 $ 29,640 $ 25,532
Balance 30,723 25,689 30,723 25,689
Accumulated Other Comprehensive Loss        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (1,069) (1,476) (938) (920)
Other comprehensive income (loss) before reclassifications, net of taxes (896) 228 (1,016) (435)
Total other comprehensive loss before reclassifications, net of taxes (1,965) (1,248) (1,954) (1,355)
Net amount reclassified to earnings 47 38 36 145
Balance (1,918) (1,210) (1,918) (1,210)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (422) (28) (444) (53)
Total other comprehensive loss before reclassifications, net of taxes (422) (28) (444) (53)
Net amount reclassified to earnings 10 (1) 32 24
Balance (412) (29) (412) (29)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (267) (51)   33
Other comprehensive income (loss) before reclassifications, net of taxes (302) 12 (536) (154)
Total other comprehensive loss before reclassifications, net of taxes (569) (39) (536) (121)
Net amount reclassified to earnings 37 39 4 121
Balance (532)   (532)  
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (380) (1,397) (494) (900)
Other comprehensive income (loss) before reclassifications, net of taxes (594) 216 (480) (281)
Total other comprehensive loss before reclassifications, net of taxes (974) (1,181) (974) (1,181)
Balance $ (974) $ (1,181) $ (974) $ (1,181)