Consolidated Statements of Redeemable Preferred Stock and Shareholders' Equity - USD ($) $ in Thousands	Total	Preferred Stock	Common Stock	Additional Paid-in Capital	Retained Earnings	Accumulated Other Comprehensive Loss
Balances, beginning of period (in shares) at Dec. 31, 2017		2,500,000	6,419,000
Balances, beginning of period at Dec. 31, 2017	$ 258,910	$ 49,471	$ 64	$ 2,319	$ 256,301	$ 226
Increase (Decrease) in Shareholders' Equity
Net income	43,231				43,231
Net unrealized gain (loss) from currency translation adjustment, net of tax benefit	(596)					(596)
Net unrealized gain (loss) from derivative instruments, net of tax expense	413					413
Shares repurchased (in shares)			(471,595)
Shares repurchased	(16,205)		$ (5)	(6,683)	(9,517)
Shares issued under stock compensation plans (in shares)			272,000
Shares issued under stock compensation plans	245		$ 3	242
Cancellation of restricted stock units in satisfaction of withholding tax (in shares)			(43,000)
Cancellation of restricted stock units in satisfaction of withholding tax	(1,288)			(1,288)
Stock-based compensation, net of forfeitures	5,410			5,410
Accretion of preferred stock issuance costs	(83)	$ 83			(83)
Preferred stock dividends paid	(3,250)				(3,250)
Balances, end of period (in shares) at Dec. 31, 2018		2,500,000	6,176,000
Balances, end of period at Dec. 31, 2018	286,787	$ 49,554	$ 62	0	286,623	102
Increase (Decrease) in Shareholders' Equity
Net income	66,922				66,922
Net unrealized gain (loss) from currency translation adjustment, net of tax benefit	(172)					(172)
Net unrealized gain (loss) from derivative instruments, net of tax expense	(3,178)					(3,178)
Shares repurchased (in shares)			(72,324)
Shares repurchased	(3,567)		$ (1)	(2,087)	(1,479)
Shares issued under stock compensation plans (in shares)			289,000
Shares issued under stock compensation plans	335		$ 3	332
Cancellation of restricted stock units in satisfaction of withholding tax (in shares)			(37,000)
Cancellation of restricted stock units in satisfaction of withholding tax	(1,475)			(1,475)
Stock-based compensation, net of forfeitures	7,787			7,787
Accretion of preferred stock issuance costs	(84)	$ 84			(84)
Preferred stock dividends paid	(3,250)				(3,250)
Balances, end of period (in shares) at Dec. 31, 2019		2,500,000	6,356,000
Balances, end of period at Dec. 31, 2019	$ 350,338	$ 49,638	$ 64	$ 4,557	$ 348,965	$ (3,248)