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Income Taxes - Reconciliation of unrecognized tax benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Unrecognized income tax benefits [Rollforward]
Beginning of year	$ 3,750	$ 3,778	$ 5,287
Additions for tax provisions related to the current year			92
Additions for tax positions related to prior years			2
Reductions for tax positions related to prior years	(97)	(11)	(505)
Currency translation adjustment		(4)
Reductions for settlements		(21)	(516)
Lapses of applicable statutes of limitation			(582)
Ending of year	$ 3,653	$ 3,750	$ 3,778

X

- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

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- Definition

Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 45
-Paragraph 10B
-URI https://asc.fasb.org/extlink&oid=123427490&loc=SL37586934-109318

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
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-Section 50
-Paragraph 15A
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-URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319

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- Definition

Amount of decrease in unrecognized tax benefits resulting from foreign currency translation.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15A
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- Definition

Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
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Amount of decrease in unrecognized tax benefits resulting from settlements with taxing authorities.

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- Definition

Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return.

+ References

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Amount of increase in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations.

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