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Income Taxes - Reconciliation of unrecognized tax benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Unrecognized income tax benefits [Rollforward]      
Beginning of year $ 3,778 $ 5,287 $ 7,401
Additions for tax provisions related to the current year   92 515
Reductions for tax positions related to the current year     113
Additions for tax positions related to prior years   2 646
Reductions for tax positions related to prior years (11) (505)  
Currency translation adjustment (4)    
Reductions for settlements (21) (516) (2,642)
Lapses of applicable statutes of limitation   (582) (520)
Ending of year $ 3,750 $ 3,778 $ 5,287