Schedule of fair value, assets measured on recurring basis (Details) - Fair Value, Recurring [Member] - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Assets:
Short-term investments	$ 150,833	$ 160,014
Interest rate swaps	6,758
Foreign currency forward exchange contracts accounted for using hedge accounting	1,189	1,982
Total Assets	158,780
Liabilities:
Foreign currency forward exchange contracts not accounted for using hedge accounting	68
Total liabilities	68	1,811
Foreign currency forward exchange contracts not accounted for using hedge accounting		63
Interest rate swaps		(234)
Fair Value, Inputs, Level 1 [Member]
Assets:
Short-term investments	19,861
Interest rate swaps
Foreign currency forward exchange contracts accounted for using hedge accounting
Total Assets	19,861
Liabilities:
Foreign currency forward exchange contracts not accounted for using hedge accounting
Total liabilities
Foreign currency forward exchange contracts not accounted for using hedge accounting
Interest rate swaps
Fair Value, Inputs, Level 2 [Member]
Assets:
Short-term investments	130,174	160,014
Interest rate swaps	6,758
Foreign currency forward exchange contracts accounted for using hedge accounting	1,189	1,982
Total Assets	138,122
Liabilities:
Foreign currency forward exchange contracts not accounted for using hedge accounting	68
Total liabilities	68	1,811
Foreign currency forward exchange contracts not accounted for using hedge accounting		63
Interest rate swaps		(234)
Fair Value, Inputs, Level 3 [Member]
Assets:
Short-term investments	798
Interest rate swaps
Foreign currency forward exchange contracts accounted for using hedge accounting
Total Assets	798
Liabilities:
Foreign currency forward exchange contracts not accounted for using hedge accounting
Total liabilities
Foreign currency forward exchange contracts not accounted for using hedge accounting
Interest rate swaps

Fair value portion of probable future economic benefits obtained or controlled by an entity as a result of past transactions or events.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=126976982&loc=d3e19207-110258

+ Details

Name:	us-gaap_AssetsFairValueDisclosure
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- References

No definition available.

+ Details

Name:	us-gaap_AssetsFairValueDisclosureAbstract
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Fair value as of the balance sheet date of all foreign currency derivative liabilities not designated as hedging instruments.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4B
-Subparagraph (c)(2)
-URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5624163-113959

+ Details

Name:	us-gaap_ForeignCurrencyDerivativeInstrumentsNotDesignatedAsHedgingInstrumentsLiabilityAtFairValue
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Definition

Fair value as of the balance sheet date of all derivative assets designated as foreign currency fair value hedging instruments.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4B
-Subparagraph (c)(1)
-URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5624163-113959

+ Details

Name:	us-gaap_ForeignCurrencyFairValueHedgeAssetAtFairValue
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- Definition

Fair value as of the balance sheet date of all derivative liabilities designated as foreign currency fair value hedging instruments.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4B
-Subparagraph (c)(1)
-URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5624163-113959

+ Details

Name:	us-gaap_ForeignCurrencyFairValueHedgeLiabilityAtFairValue
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Definition

Fair value as of the balance sheet date of interest rate derivative liabilities, which includes all such derivative instruments in hedging and nonhedging relationships that are recognized as liabilities.

+ References

No definition available.

+ Details

Name:	us-gaap_InterestRateDerivativeLiabilitiesAtFairValue
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Definition

Fair value of all derivatives designated as interest rate fair value hedging instruments.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 45
-Paragraph 5
-URI https://asc.fasb.org/extlink&oid=126966630&loc=d3e41228-113958

+ Details

Name:	us-gaap_InterestRateFairValueHedgeDerivativeAtFairValueNet
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- Definition

Fair value portion of investment securities, including, but not limited to, marketable securities, derivative financial instruments, and investments accounted for under the equity method.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=126976982&loc=d3e19207-110258

+ Details

Name:	us-gaap_InvestmentsFairValueDisclosure
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- References

No definition available.

+ Details

Name:	us-gaap_LiabilitiesAbstract
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Fair value of financial and nonfinancial obligations.

+ References

+ Details

Name:	us-gaap_LiabilitiesFairValueDisclosure
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Details

Name:	us-gaap_FairValueByMeasurementFrequencyAxis=us-gaap_FairValueMeasurementsRecurringMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_FairValueByFairValueHierarchyLevelAxis=us-gaap_FairValueInputsLevel1Member
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_FairValueByFairValueHierarchyLevelAxis=us-gaap_FairValueInputsLevel2Member
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_FairValueByFairValueHierarchyLevelAxis=us-gaap_FairValueInputsLevel3Member
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type: