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Condensed Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Statement of Comprehensive Income [Abstract]        
Unrealized loss on cash flow hedge, tax $ 11 $ 0 $ 11 $ (277)
Cash flow hedges reclassified to earnings, tax 99 98 295 98
Reclassification of pension liability adjustments to earnings, tax $ 23 $ 15 $ 71 $ 46