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Accumulated Other Comprehensive Loss (Tables)
12 Months Ended
Dec. 31, 2020
Stockholders' Equity Note [Abstract]  
Schedule of accumulated other comprehensive loss
   Year ended December 31, 
   2020   2019   2018 
             
Net derivative instruments, beginning of year  $52   $136   $37 
Net derivative instrument gain (loss), net of tax   (52)   (84)   99 
Net derivative instruments, end of year   
    52    136 
                
Cumulative translation adjustments, beginning of year   (39,905)   (33,786)   (17,869)
Translation adjustments   33,908    (6,119)   (15,917)
Cumulative translation adjustments, end of year   (5,997)   (39,905)   (33,786)
                
Accumulated other comprehensive loss  $(5,997)  $(39,853)  $(33,650)