Consolidated Statements of Redeemable Preferred Stock and Shareholders' Equity - USD ($) $ in Thousands	Total	Cumulative Effect, Period of Adoption, Adjustment	Preferred Stock	Common Stock	Additional Paid-in Capital	Retained Earnings	Retained Earnings Cumulative Effect, Period of Adoption, Adjustment	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	$ 233	$ 49,554	$ 62	$ 0	$ 286,623	$ 233	$ 102
Increase (Decrease) in Shareholders' Equity
Net income	66,922					66,922
Net unrealized gain (loss) from currency translation adjustment, net of tax (benefit) expense	(172)							(172)
Net unrealized gain (loss) from derivative instruments, net of tax (benefit) 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 shares issuance costs	(84)		$ 84			(84)
Preferred stock dividends	(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)
Increase (Decrease) in Shareholders' Equity
Net income	9,748					9,748
Net unrealized gain (loss) from currency translation adjustment, net of tax (benefit) expense	793							793
Net unrealized gain (loss) from derivative instruments, net of tax (benefit) expense	(2,662)							(2,662)
Shares repurchased (in shares)				(55,426)
Shares repurchased	(1,510)			$ 0	(1,510)	0
Shares issued under stock compensation plans (in shares)				331,000
Shares issued under stock compensation plans	428			$ 3	425
Cancellation of restricted stock units in satisfaction of withholding tax (in shares)				(61,000)
Cancellation of restricted stock units in satisfaction of withholding tax	(1,155)			$ (1)	(1,154)
Stock-based compensation, net of forfeitures	11,378				11,378
Accretion of preferred shares issuance costs	(84)		$ 84			(84)
Preferred stock dividends	(3,259)					(3,259)
Balances, end of period (in shares) at Dec. 31, 2020			2,500,000	6,570,000
Balances, end of period at Dec. 31, 2020	$ 364,015		$ 49,722	$ 66	$ 13,696	$ 355,370		$ (5,117)