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Comprehensive loss - Reclassifications out of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance $ 29,640  
Balance 29,927 $ 29,640
Accumulated Other Comprehensive Loss    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (938) (920)
Other comprehensive income (loss) before reclassifications, net of taxes (1,402) 300
Total other comprehensive loss before reclassifications, net of taxes (2,340) (620)
Net amount reclassified to earnings 148 (318)
Balance (2,192) (938)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (444) (53)
Other comprehensive income (loss) before reclassifications, net of taxes (457)  
Total other comprehensive loss before reclassifications, net of taxes (901) (53)
Net amount reclassified to earnings 43 (391)
Balance (858) (444)
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 (458) (106)
Total other comprehensive loss before reclassifications, net of taxes (458) (73)
Net amount reclassified to earnings 105 73
Balance (353)  
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (494) (900)
Other comprehensive income (loss) before reclassifications, net of taxes (487) 406
Total other comprehensive loss before reclassifications, net of taxes (981) (494)
Balance $ (981) $ (494)