Condensed Consolidated Statements of Redeemable Preferred Stock and Shareholders' Equity - USD ($) $ in Thousands	Total	Redeemable Preferred Stock	Common Stock	Paid in Capital in Excess of Par	Retained Earnings	Accumulated Other Comprehensive Income (Loss)
Balances, beginning of period (in shares) at Dec. 31, 2018		2,500,000	6,176,000
Balances, beginning of period at Dec. 31, 2018	$ 286,787	$ 49,554	$ 62	$ 0	$ 286,623	$ 102
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	61,926				61,926
Net unrealized gain (loss) from currency translation, net of tax	(378)					(378)
Net unrealized gain (loss) from derivative instruments, net of tax	(1,477)					(1,477)
Shares repurchased (in shares)			(72,324)
Shares repurchased	(3,567)		$ (1)	(2,087)	(1,479)
Shares issued under stock compensation plans (in shares)			290,000
Shares issued under stock compensation plans	335		$ 3	332
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(37,000)
Cancellation of restricted stock in satisfaction of withholding tax	(1,460)			(1,460)
Stock-based compensation expense, net of forfeitures	5,588			5,588
Accretion of preferred shares issuance costs	(63)	$ 63			(63)
Preferred stock dividends	(2,431)				(2,431)
Balances, end of period (in shares) at Sep. 30, 2019		2,500,000	6,357,000
Balances, end of period at Sep. 30, 2019	345,493	$ 49,617	$ 64	2,373	344,809	(1,753)
Balances, beginning of period (in shares) at Jun. 30, 2019		2,500,000	6,350,000
Balances, beginning of period at Jun. 30, 2019	320,413	$ 49,596	$ 64	0	321,577	(1,228)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	24,073				24,073
Net unrealized gain (loss) from currency translation, net of tax	(352)					(352)
Net unrealized gain (loss) from derivative instruments, net of tax	(173)					(173)
Shares issued under stock compensation plans (in shares)			7,000
Shares issued under stock compensation plans	172		$ 0	172
Stock-based compensation expense, net of forfeitures	2,201			2,201
Accretion of preferred shares issuance costs	(21)	$ 21			(21)
Preferred stock dividends	(820)				(820)
Balances, end of period (in shares) at Sep. 30, 2019		2,500,000	6,357,000
Balances, end of period at Sep. 30, 2019	345,493	$ 49,617	$ 64	2,373	344,809	(1,753)
Balances, beginning of period (in shares) at Dec. 31, 2019		2,500,000	6,356,000
Balances, beginning of period at Dec. 31, 2019	350,338	$ 49,638	$ 64	4,557	348,965	(3,248)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	12,642				12,642
Net unrealized gain (loss) from currency translation, net of tax	253					253
Net unrealized gain (loss) from derivative instruments, net of tax	(2,404)					(2,404)
Shares repurchased (in shares)			(55,426)
Shares repurchased	(1,510)		$ 0	(1,510)
Shares issued under stock compensation plans (in shares)			319,000
Shares issued under stock compensation plans	428		$ 3	425
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(60,000)
Cancellation of restricted stock in satisfaction of withholding tax	(1,194)		$ (1)	(1,193)
Stock-based compensation expense, net of forfeitures	8,245			8,245
Accretion of preferred shares issuance costs	(63)	$ 63			(63)
Preferred stock dividends	(2,440)				(2,440)
Balances, end of period (in shares) at Sep. 30, 2020		2,500,000	6,559,000
Balances, end of period at Sep. 30, 2020	364,295	$ 49,701	$ 66	10,524	359,104	(5,399)
Balances, beginning of period (in shares) at Jun. 30, 2020		2,500,000	6,552,000
Balances, beginning of period at Jun. 30, 2020	357,868	$ 49,680	$ 66	7,203	356,960	(6,361)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	2,984				2,984
Net unrealized gain (loss) from currency translation, net of tax	429					429
Net unrealized gain (loss) from derivative instruments, net of tax	533					533
Shares repurchased (in shares)			(1,000)
Shares repurchased	(20)			(20)
Shares issued under stock compensation plans (in shares)			8,000
Shares issued under stock compensation plans	228		$ 0	228
Stock-based compensation expense, net of forfeitures	3,113			3,113
Accretion of preferred shares issuance costs	(21)	$ 21			(21)
Preferred stock dividends	(819)				(819)
Balances, end of period (in shares) at Sep. 30, 2020		2,500,000	6,559,000
Balances, end of period at Sep. 30, 2020	$ 364,295	$ 49,701	$ 66	$ 10,524	$ 359,104	$ (5,399)