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 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 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)			(1,510)
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)
Increase (Decrease) in Shareholders' Equity
Net income	3,352				3,352
Net unrealized gain (loss) from currency translation adjustment, net of tax (benefit) expense	309					309
Net unrealized gain (loss) from derivative instruments, net of tax (benefit) expense	9,839					9,839
Shares repurchased (in shares)			(268,408)
Shares repurchased	(10,086)		$ (3)	(10,083)
Shares issued under stock compensation plans (in shares)			346,000
Shares issued under stock compensation plans	186		$ 3	183
Cancellation of restricted stock units in satisfaction of withholding tax (in shares)			(117,000)
Cancellation of restricted stock units in satisfaction of withholding tax	(4,974)		$ (1)	(4,973)
Stock-based compensation, net of forfeitures	16,578			16,578
Accretion of preferred shares issuance costs	(83)	$ 83			(83)
Preferred stock dividends	(3,251)				(3,251)
Balances, end of period (in shares) at Dec. 31, 2021		2,500,000	6,531,000
Balances, end of period at Dec. 31, 2021	$ 375,885	$ 49,805	$ 65	$ 15,401	$ 355,388	$ 5,031