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Consolidated Statements of Stockholders' Equity (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Consolidated Statements of Stockholders' Equity      
Mark to market of foreign exchange hedges, tax expense (benefit) $ 0 $ 4 $ (29)