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Income Taxes - Reconciliation to federal statutory rate (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Effective Income Tax Rate Reconciliation, Amount [Abstract] |  |  |
Federal income taxes at statutory rate | $ 9,211 | $ 8,208 | $ 4,964
State income taxes, net of federal benefit | 2,310 | 325 | 505
Goodwill impairment | 0 | 2,322 | 1,883
Foreign taxes | 2,896 | 3,328 | (2,276)
Change in valuation allowance | (1,185) | (374) | 3,919
Research and development credits | (436) | (1,001) | (626)
Foreign tax credits | (1,083) | (1,150) | (283)
Nondeductible meals and entertainment | 254 | 377 | 724
Change in permanent reinvestment assertion | 627 | 776 | 0
Disposals and liquidations of businesses | 0 | (935) | 0
Global intangible low-tax income, net of credits | 531 | (54) | 892
Foreign-derived intangible income deduction | (94) | (115) | (315)
Tax rate changes | (431) | (359) | (486)
Other | 716 | 665 | (314)
Provision for income taxes | $ 13,316 | $ 12,013 | $ 14,111

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