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Comprehensive loss - Reclassifications out of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance $ 29,927 $ 29,640
Balance 24,778 30,152
Accumulated Other Comprehensive Loss    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (2,192) (938)
Other comprehensive income (loss) before reclassifications, net of taxes (104) (21)
Total other comprehensive loss before reclassifications, net of taxes (2,296) (959)
Net amount reclassified to earnings 123 11
Balance (2,173) (948)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (858) (444)
Total other comprehensive loss before reclassifications, net of taxes (858) (444)
Net amount reclassified to earnings 40 11
Balance (818) (433)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (353)  
Other comprehensive income (loss) before reclassifications, net of taxes (78)  
Total other comprehensive loss before reclassifications, net of taxes (431)  
Net amount reclassified to earnings 83  
Balance (348)  
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Balance (981) (494)
Other comprehensive income (loss) before reclassifications, net of taxes (26) (21)
Total other comprehensive loss before reclassifications, net of taxes (1,007) (515)
Balance $ (1,007) $ (515)