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Accumulated other comprehensive loss
 12 Months Ended
Dec. 31, 2016
Accumulated Other Comprehensive Income (Loss) [Abstract]  
Accumulated other comprehensive loss
Accumulated other comprehensive (loss) gain
The changes in accumulated other comprehensive (loss) gain, by component for the years ended December 31, 2016, 2015 and 2014 are as follows:
 
Year Ended December 31, 2016
 
Foreign currency translation adjustment
 
Minimum pension liability
 
Cash flow hedge
 
Total
Balance, net of tax, beginning of year
$
(11,834
)
 
$
334

 
$
(1,069
)
 
$
(12,569
)
Other comprehensive (loss) gain, net of tax
(10,440
)
 
(484
)
 
277

 
(10,647
)
Balance, net of tax, end of year
$
(22,274
)
 
$
(150
)
 
$
(792
)
 
$
(23,216
)
 
 
 
 
 
 
 
 
 
Year Ended December 31, 2015
 
Foreign currency translation adjustment
 
Minimum pension liability
 
Cash flow hedge
 
Total
Balance, net of tax, beginning of year
$
(8,118
)
 
$
(210
)
 
$
(228
)
 
$
(8,556
)
Other comprehensive (loss) gain, net of tax
(3,716
)
 
544

 
(841
)
 
(4,013
)
Balance, net of tax, end of year
$
(11,834
)
 
$
334

 
$
(1,069
)
 
$
(12,569
)
 
 
 
 
 
 
 
 
 
Year Ended December 31, 2014
 
Foreign currency translation adjustment
 
Minimum pension liability
 
Cash flow hedge
 
Total
Balance, net of tax, beginning of year
$
(617
)
 
$
—

 
$
—

 
$
(617
)
Other comprehensive loss, net of tax
(7,501
)
 
(210
)
 
(228
)
 
(7,939
)
Balance, net of tax, end of year
$
(8,118
)
 
$
(210
)
 
$
(228
)
 
$
(8,556
)