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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, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance $ 24,778 $ 30,152 $ 29,927 $ 29,640
Balance 21,022 31,405 21,022 31,405
Accumulated Other Comprehensive Loss        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (2,173) (948) (2,192) (938)
Other comprehensive income (loss) before reclassifications, net of taxes (1,344) (166) (1,448) (187)
Total other comprehensive loss before reclassifications, net of taxes (3,517) (1,114) (3,640) (1,125)
Net amount reclassified to earnings 241 45 364 56
Balance (3,276) (1,069) (3,276) (1,069)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (818) (433) (858) (444)
Total other comprehensive loss before reclassifications, net of taxes (818) (433) (858) (444)
Net amount reclassified to earnings 38 11 78 22
Balance (780) (422) (780) (422)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (348)   (353)  
Other comprehensive income (loss) before reclassifications, net of taxes (744) (301) (822) (301)
Total other comprehensive loss before reclassifications, net of taxes (1,092) (301) (1,175) (301)
Net amount reclassified to earnings 203 34 286 34
Balance (889) (267) (889) (267)
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Balance (1,007) (515) (981) (494)
Other comprehensive income (loss) before reclassifications, net of taxes (600) 135 (626) 114
Total other comprehensive loss before reclassifications, net of taxes (1,607) (380) (1,607) (380)
Balance $ (1,607) $ (380) $ (1,607) $ (380)