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Allowance for Doubtful Accounts (Tables)
 12 Months Ended
Dec. 31, 2019
Receivables [Abstract]  
Schedule of activity related to the allowance for doubtful accounts
The activity related to the allowance for doubtful accounts was as follows:
 
Year ended December 31,
(in thousands)
2019
 
2018
 
2017
Balance at beginning of year
$
7,272

 
$
9,975

 
$
12,255

Bad debt expense
573

 
(583
)
 
337

Amount of receivables written off
(2,706
)
 
(1,873
)
 
(3,300
)
Foreign currency translation and other
199

 
(247
)
 
683

Balance at end of year
$
5,338

 
$
7,272

 
$
9,975