Condensed Consolidated Statements of Redeemable Preferred Stock and Shareholders' Equity - USD ($) shares in Thousands, $ 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, 2019		2,500	6,356
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 loss	4,286				4,286
Net unrealized gain (loss) from currency translation, net of tax	(171)					(171)
Net unrealized gain (loss) from derivative instruments, net of tax	(2,584)					(2,584)
Shares issued under stock compensation plans (in shares)			4
Shares issued under stock compensation plans	200		$ 0	200
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(16)
Cancellation of restricted stock in satisfaction of withholding tax	(348)		$ (1)	(347)
Stock-based compensation expense, net of forfeitures	2,117			2,117
Accretion of preferred shares issuance costs	(21)	$ 21			(21)
Preferred stock dividends	(810)				(810)
Balances, end of period (in shares) at Mar. 31, 2020		2,500	6,344
Balances, end of period at Mar. 31, 2020	353,007	$ 49,659	$ 63	6,527	352,420	(6,003)
Balances, beginning of period (in shares) at Dec. 31, 2020		2,500	6,570
Balances, beginning of period at Dec. 31, 2020	364,015	$ 49,722	$ 66	13,696	355,370	(5,117)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(1,332)				(1,332)
Net unrealized gain (loss) from currency translation, net of tax	2,197					2,197
Net unrealized gain (loss) from derivative instruments, net of tax	5,470					5,470
Shares issued under stock compensation plans (in shares)			8
Shares issued under stock compensation plans	169		$ 0	169
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(1)
Cancellation of restricted stock in satisfaction of withholding tax	(47)			(47)
Stock-based compensation expense, net of forfeitures	2,762			2,762
Accretion of preferred shares issuance costs	(21)	$ 21			(21)
Preferred stock dividends	(801)				(801)
Balances, end of period (in shares) at Mar. 31, 2021		2,500	6,577
Balances, end of period at Mar. 31, 2021	$ 372,412	$ 49,743	$ 66	$ 16,580	$ 353,216	$ 2,550