Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 1,589	$ 2,390
Intangible assets, accumulated amortization	$ 10,113	$ 9,133
Preferred stock, par value (in dollars per share)	$ 0.01	$ 0.01
Preferred Stock, Shares Authorized	1,000,000	1,000,000
Preferred Stock, Shares Issued	0	0
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01
Common Stock, Par Value (in shares)	30,000,000	30,000,000
Common Stock, Shares Issued	19,398,699	19,026,393
Common Stock, Shares Outstanding	18,001,261	17,743,971
Treasury Stock, Shares Outstanding	1,397,438	1,282,422