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Income Taxes, Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of change in liability for unrecognized tax benefits [Roll Forward]    
Balance at beginning of year $ 6,032 $ 6,026
Increases for tax positions taken in the current year 805 750
Increases for tax positions taken in prior years 1,267 199
Decreases related to settlements with tax authorities (386) (341)
Decreases as a result of lapse of the applicable statutes of limitations (625) (591)
Foreign currency exchange rate changes 352 (11)
Balance at the end of year 7,445 6,032
Income tax uncertainties [Abstract]    
Unrecognized tax benefits that would impact the effective tax rate, if recognized 6,600  
Income tax interest and penalties accrued 700 $ 600
Expected decrease in liability for unrecognized tax benefits in the next fiscal year 2,500  
Unrecognized tax benefits that would impact the effective tax rate in the next fiscal year $ 300