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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, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Comprehensive loss        
Balance at the beginning $ 21,022 $ 31,405 $ 29,927 $ 29,640
Balance at the end 17,781 30,723 17,781 30,723
Accumulated Other Comprehensive Loss        
Comprehensive loss        
Balance at the beginning (3,276) (1,069) (2,192) (938)
Other comprehensive loss before reclassifications, net of taxes (1,528) (896) (2,977) (1,016)
Total other comprehensive loss before reclassifications, net of taxes (4,804) (1,965) (5,169) (1,954)
Net amount reclassified to earnings 713 47 1,078 36
Balance at the end (4,091) (1,918) (4,091) (1,918)
Pension Liability Adjustment        
Comprehensive loss        
Balance at the beginning (780) (422) (858) (444)
Total other comprehensive loss before reclassifications, net of taxes (780) (422) (858) (444)
Net amount reclassified to earnings 35 10 113 32
Balance at the end (745) (412) (745) (412)
Fair Value of Derivatives        
Comprehensive loss        
Balance at the beginning (889) (267) (353)  
Other comprehensive loss before reclassifications, net of taxes (884) (302) (1,707) (536)
Total other comprehensive loss before reclassifications, net of taxes (1,773) (569) (2,060) (536)
Net amount reclassified to earnings 678 37 965 4
Balance at the end (1,095) (532) (1,095) (532)
Foreign Currency Translation Adjustment        
Comprehensive loss        
Balance at the beginning (1,607) (380) (981) (494)
Other comprehensive loss before reclassifications, net of taxes (644) (594) (1,270) (480)
Total other comprehensive loss before reclassifications, net of taxes (2,251) (974) (2,251) (974)
Balance at the end $ (2,251) $ (974) $ (2,251) $ (974)