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Income Taxes - Reconciliation to federal statutory rate (Details) - USD ($) $ in Thousands	12 Months Ended
	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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