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, 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 (loss) income	9,658				9,658
Net unrealized gain (loss) from currency translation, net of tax	(176)					(176)
Net unrealized gain (loss) from derivative instruments, net of tax	$ (2,937)					(2,937)
Shares repurchased (in shares)	(54,626)		(55,000)
Shares repurchased	$ (1,490)		$ 0	(1,490)	0
Shares issued under stock compensation plans (in shares)			311,000
Shares issued under stock compensation plans	200		$ 3	197
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	5,132			5,132
Accretion of preferred shares issuance costs	(42)	$ 42			(42)
Preferred stock dividends	(1,621)				(1,621)
Balances, end of period (in shares) at Jun. 30, 2020		2,500,000	6,552,000
Balances, end of period at Jun. 30, 2020	357,868	$ 49,680	$ 66	7,203	356,960	(6,361)
Balances, beginning of period (in shares) at Mar. 31, 2020		2,500,000	6,344,000
Balances, beginning of period at Mar. 31, 2020	353,007	$ 49,659	$ 63	6,527	352,420	(6,003)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net (loss) income	5,372				5,372
Net unrealized gain (loss) from currency translation, net of tax	(5)					(5)
Net unrealized gain (loss) from derivative instruments, net of tax	(353)					(353)
Shares repurchased (in shares)			(55,000)
Shares repurchased	(1,490)		$ 0	(1,490)	0
Shares issued under stock compensation plans (in shares)			307,000
Shares issued under stock compensation plans	0		$ 3	(3)
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(44,000)
Cancellation of restricted stock in satisfaction of withholding tax	(846)		$ 0	(846)
Stock-based compensation expense, net of forfeitures	3,015			3,015
Accretion of preferred shares issuance costs	(21)	$ 21			(21)
Preferred stock dividends	(811)				(811)
Balances, end of period (in shares) at Jun. 30, 2020		2,500,000	6,552,000
Balances, end of period at Jun. 30, 2020	357,868	$ 49,680	$ 66	7,203	356,960	(6,361)
Balances, beginning of period (in shares) at Dec. 31, 2020		2,500,000	6,570,000
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) income	(1,274)				(1,274)
Net unrealized gain (loss) from currency translation, net of tax	123					123
Net unrealized gain (loss) from derivative instruments, net of tax	4,978					4,978
Shares repurchased (in shares)			0
Shares issued under stock compensation plans (in shares)			295,000
Shares issued under stock compensation plans	169		$ 2	167
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(116,000)
Cancellation of restricted stock in satisfaction of withholding tax	(4,966)		$ (1)	(4,965)
Stock-based compensation expense, net of forfeitures	7,298			7,298
Accretion of preferred shares issuance costs	(42)	$ 42			(42)
Preferred stock dividends	(1,612)				(1,612)
Balances, end of period (in shares) at Jun. 30, 2021		2,500,000	6,749,000
Balances, end of period at Jun. 30, 2021	368,689	$ 49,764	$ 67	16,196	352,442	(16)
Balances, beginning of period (in shares) at Mar. 31, 2021		2,500,000	6,577,000
Balances, beginning of period at Mar. 31, 2021	372,412	$ 49,743	$ 66	16,580	353,216	2,550
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net (loss) income	58				58
Net unrealized gain (loss) from currency translation, net of tax	(2,074)					(2,074)
Net unrealized gain (loss) from derivative instruments, net of tax	(492)					(492)
Shares issued under stock compensation plans (in shares)			287,000
Shares issued under stock compensation plans	0		$ 2	(2)
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(115,000)
Cancellation of restricted stock in satisfaction of withholding tax	(4,919)		$ (1)	(4,918)
Stock-based compensation expense, net of forfeitures	4,536			4,536
Accretion of preferred shares issuance costs	(21)	$ 21			(21)
Preferred stock dividends	(811)				(811)
Balances, end of period (in shares) at Jun. 30, 2021		2,500,000	6,749,000
Balances, end of period at Jun. 30, 2021	$ 368,689	$ 49,764	$ 67	$ 16,196	$ 352,442	$ (16)