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Income taxes (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Operating Loss Carryforwards [Line Items]          
Valuation allowance $ 102,000,000   $ 102,000,000   $ 86,000,000
Unrecognized tax benefits 6,900,000   6,900,000   $ 6,700,000
Unrecognized tax benefits, period increase (decrease) 0        
Reasonable possibility of future tax benefits 2,900,000   2,900,000    
Accrued interest related to uncertain tax positions $ 800,000   $ 800,000    
Effective income tax rate (11.00%) 23.00% 24.00% 18.00%  
U.S. federal statutory rate 21.00% 21.00%   21.00%  
Hungary statutory tax rate     9.00%    
Income tax benefit of tax holiday (in usd per share) $ 0.01 $ 0.01 $ 0.01 $ 0.02  
Hungary          
Operating Loss Carryforwards [Line Items]          
Foreign income tax benefit $ 100,000 $ 1,600,000 $ 300,000 $ 4,200,000  
Malaysia          
Operating Loss Carryforwards [Line Items]          
Income tax benefit of tax holiday, amount $ 200,000 $ 1,800,000 $ 400,000 $ 3,100,000