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Accumulated Other Comprehensive (Loss) Income (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
AOCI before tax, beginning balance $ 735 $ (63) $ (3,298) $ (9,146) $ (11,985) $ (6,112) $ (3,298) $ (6,112)
Accumulated other comprehensive income, tax, beginning balance (817) (827) (837) (708) (714) (721) (837) (721)
Accumulated other comprehensive income, beginning balance 1,552 764 (2,461) (8,438) (11,271) (5,391) (2,461) (5,391)
Adjustment to pension benefit liability, taxes 9 10 10 7 6 7    
Other comprehensive income (loss), net of tax (1,030)     2,218     2,983 (829)
AOCI before tax, ending balance (286) 735 (63) (6,921) (9,146) (11,985) (286) (6,921)
Accumulated other comprehensive income, tax, ending balance (808) (817) (827) (701) (708) (714) (808) (701)
Accumulated other comprehensive income, ending balance 522 1,552 764 (6,220) (8,438) (11,271) 522 (6,220)
Accumulated Translation Adjustment                
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
AOCI before tax, beginning balance 3,087 2,326 (872) (7,256) (10,071) (4,173) (872) (4,173)
Other comprehensive income adjustments (1,057) 761 3,198 2,200 2,815 (5,898)    
Other comprehensive income (loss), net of tax (1,057) 761 3,198 2,200 2,815 (5,898)    
AOCI before tax, ending balance 2,030 3,087 2,326 (5,056) (7,256) (10,071) 2,030 (5,056)
Accumulated Defined Benefit Plans Adjustment                
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
Other comprehensive income adjustments 36 37 37 25 24 25    
Other comprehensive income (loss), net of tax 27 27 27 18 18 18    
Minimum post retirement benefit plan adjustments | Accumulated Defined Benefit Plans Adjustment                
AOCI Attributable to Parent, Net of Tax [Roll Forward]                
AOCI before tax, beginning balance (2,352) (2,389) (2,426) (1,890) (1,914) (1,939) (2,426) (1,939)
Other comprehensive income adjustments 36 37 37 25 24 25    
AOCI before tax, ending balance $ (2,316) $ (2,352) $ (2,389) $ (1,865) $ (1,890) $ (1,914) $ (2,316) $ (1,865)