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Accumulated Other Comprehensive Loss (Tables)
 9 Months Ended
Sep. 30, 2019
Equity [Abstract]  
Schedule of changes in accumulated balances of other comprehensive loss
The following table summarizes the changes in accumulated other comprehensive loss (in thousands):
 
Three Months Ended
 
Nine Months Ended
 
September 30,
 
September 30,
 
2019
 
2018

2019
 
2018
Beginning balance
$
(4,229
)
 
$
(4,115
)
 
$
(4,214
)
 
$
(3,597
)
Other comprehensive income (loss) due to foreign currency translation, net of tax
(221
)
 
138

 
(236
)
 
(380
)
Ending balance
$
(4,450
)
 
$
(3,977
)

$
(4,450
)
 
$
(3,977
)