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Accumulated Other Comprehensive Loss (Tables)
 6 Months Ended
Jun. 30, 2017
Equity [Abstract]  
Schedule of changes in accumulated balances of other comprehensive loss
The following table summarizes the changes in accumulated balances of other comprehensive loss (in thousands):
 
 
Three Months Ended
 
 
June 30,
 

2017
 
2016
Beginning balance

$
(3,820
)
 
$
(3,716
)
Other comprehensive income due to foreign currency translation, net of tax
 
133

 
91

Ending balance

$
(3,687
)
 
$
(3,625
)
 
 
 
 
 
 
 
Six Months Ended
 
 
June 30,
 
 
2017
 
2016
Beginning balance
 
$
(3,787
)
 
$
(3,908
)
Other comprehensive income due to foreign currency translation, net of tax
 
100

 
283

Ending balance
 
$
(3,687
)
 
$
(3,625
)