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Comprehensive loss - Reclassifications from accumulated other comprehensive loss (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Comprehensive loss    
Balance at the beginning $ 18,773 $ 29,927
Balance at the end 18,418 24,778
Accumulated Other Comprehensive Loss    
Comprehensive loss    
Balance at the beginning (2,108) (2,192)
Other comprehensive income (loss) before reclassifications, net of taxes 302 (104)
Total other comprehensive loss before reclassifications, net of taxes (1,806) (2,296)
Net amount reclassified to earnings 176 123
Balance at the end (1,630) (2,173)
Pension Liability Adjustment    
Comprehensive loss    
Balance at the beginning (86) (858)
Total other comprehensive loss before reclassifications, net of taxes (86) (858)
Net amount reclassified to earnings (5) 40
Balance at the end (91) (818)
Fair Value of Derivatives    
Comprehensive loss    
Balance at the beginning (365) (353)
Other comprehensive income (loss) before reclassifications, net of taxes 242 (78)
Total other comprehensive loss before reclassifications, net of taxes (123) (431)
Net amount reclassified to earnings 181 83
Balance at the end 58 (348)
Foreign Currency Translation Adjustment    
Comprehensive loss    
Balance at the beginning (1,657) (981)
Other comprehensive income (loss) before reclassifications, net of taxes 60 (26)
Total other comprehensive loss before reclassifications, net of taxes (1,597) (1,007)
Balance at the end $ (1,597) $ (1,007)