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Comprehensive Income (Loss) - Changes in accumulated comprehensive loss (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Comprehensive Income (Loss)    
Foreign Currency Translation Adjustments, Beginning balance $ (7,033)  
Foreign Currency Translation Adjustments, Other comprehensive income (loss) before reclassifications 983  
Foreign Currency Translation Adjustments, Net current period other comprehensive income (loss) 983  
Foreign Currency Translation Adjustments, Ending balance (6,050) $ (7,033)
Defined Benefit Pension Items, Beginning balance (17,503)  
Defined Benefit Pension Items, Other comprehensive income (loss) before reclassifications (5,017)  
Defined Benefit Pension Items, Amounts reclassified from accumulated other comprehensive loss 565 463
Defined Benefit Pension Items, Net current period other comprehensive income (loss) (4,452) (2,832)
Defined Benefit Pension Items, Ending balance (21,955) (17,503)
Beginning balance (24,536)  
Other comprehensive income (loss) before reclassifications (4,034)  
Amounts reclassified from accumulated other comprehensive loss 565  
Net current period other comprehensive income (loss) (3,469)  
Ending balance $ (28,005) $ (24,536)