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Accumulated Other Comprehensive Loss (Tables)
 9 Months Ended
Sep. 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
 
Nine Months Ended
 
September 30,
 
September 30,
 
2017
 
2016

2017
 
2016
Beginning balance
$
(3,687
)
 
$
(3,625
)
 
$
(3,787
)
 
$
(3,908
)
Other comprehensive income (loss) due to foreign currency translation, net of tax
131

 
(184
)
 
231

 
99

Ending balance
$
(3,556
)
 
$
(3,809
)

$
(3,556
)
 
$
(3,809
)