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Income Taxes (Details 5) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Balance at the beginning of the period $ 3,129 $ 2,422 $ 3,623
Additions for tax positions related to the current year (includes currency translation adjustment) 596 414 196
Additions for tax positions related to prior years (includes currency translation adjustment)   681  
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions 771    
Statutes of limitations expirations (58) (326) (1,397)
Settlements   (62)  
Balance at the end of the period 2,896 3,129 2,422
Reconciliation of Deferred Income Tax Benefits [Roll Forward]      
Balance at beginning of period (22) (26) (31)
Additions for tax positions related to the current year (includes currency translation adjustment) (2) (7) (1)
Additions for tax positions related to prior years (includes currency translation adjustment)   0  
Deferred Tax Benefits Increase (Decrease) From Prior Period Tax Positions 0    
Statutes of limitation expirations 2 2 6
Settlements   9  
Balance at the end of the period (22) (22) (26)
Reconciliation of Net Unrecognized Tax Benefits [Roll Forward]      
Balance at the beginning of the period 3,107 2,396 3,592
Additions for tax positions related to the current year (includes currency translation adjustment) 594 407 195
Additions for tax positions related to prior years (includes currency translation adjustment)   681  
Unrecognized Income Tax Benefits Increase (Decrease) From Prior Period Tax Positions 771    
Statutes of limitation expirations (56) (324) (1,391)
Settlements   (53)  
Balance at the end of the period $ 2,874 $ 3,107 $ 2,396