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 (Loss) Income
Balances, beginning of period, preferred stock (in shares) at Dec. 31, 2020	2,500,000
Balances, beginning of period at Dec. 31, 2020	$ 364,015	$ 49,722	$ 66	$ 13,696	$ 355,370	$ (5,117)
Balances, beginning of period, common stock (in shares) at Dec. 31, 2020	6,570,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	$ (1,274)				(1,274)
Net unrealized gain (loss) from currency translation adjustment, net of tax expense (benefit)	123					123
Net unrealized gain (loss) from derivative instruments, net of tax expense (benefit)	$ 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, ending of period, preferred stock (in shares) at Jun. 30, 2021	2,500,000	2,500,000
Balances, end of period at Jun. 30, 2021	$ 368,689	$ 49,764	$ 67	16,196	352,442	(16)
Balances, ending of period, common stock (in shares) at Jun. 30, 2021	6,749,000		6,749,000
Balances, beginning of period, preferred stock (in shares) at Mar. 31, 2021		2,500,000
Balances, beginning of period at Mar. 31, 2021	$ 372,412	$ 49,743	$ 66	16,580	353,216	2,550
Balances, beginning of period, common stock (in shares) at Mar. 31, 2021			6,577,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	58				58
Net unrealized gain (loss) from currency translation adjustment, net of tax expense (benefit)	(2,074)					(2,074)
Net unrealized gain (loss) from derivative instruments, net of tax expense (benefit)	(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, ending of period, preferred stock (in shares) at Jun. 30, 2021	2,500,000	2,500,000
Balances, end of period at Jun. 30, 2021	$ 368,689	$ 49,764	$ 67	16,196	352,442	(16)
Balances, ending of period, common stock (in shares) at Jun. 30, 2021	6,749,000		6,749,000
Balances, beginning of period, preferred stock (in shares) at Dec. 31, 2021	2,500,000
Balances, beginning of period at Dec. 31, 2021	$ 375,885	49,805	$ 65	15,401	355,388	5,031
Balances, beginning of period, common stock (in shares) at Dec. 31, 2021	6,531,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	$ (15,293)				(15,293)
Net unrealized gain (loss) from currency translation adjustment, net of tax expense (benefit)	(657)					(657)
Net unrealized gain (loss) from derivative instruments, net of tax expense (benefit)	$ 17,454					17,454
Shares repurchased (in shares)	(154,215)		(154,000)
Shares repurchased	$ (5,180)		$ (1)	(5,179)
Shares issued under stock compensation plans (in shares)			340,000
Shares issued under stock compensation plans	165		$ (1)	166
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(108,000)
Cancellation of restricted stock in satisfaction of withholding tax	(3,496)		$ 0	(3,496)
Stock-based compensation expense, net of forfeitures	7,670			7,670
Accretion of preferred shares issuance costs	(42)	$ 42			(42)
Preferred stock dividends	$ (1,612)				(1,612)
Balances, ending of period, preferred stock (in shares) at Jun. 30, 2022	2,500,000	2,500,000
Balances, end of period at Jun. 30, 2022	$ 374,894	$ 49,847	$ 63	14,562	338,441	21,828
Balances, ending of period, common stock (in shares) at Jun. 30, 2022	6,609,000		6,609,000
Balances, beginning of period, preferred stock (in shares) at Mar. 31, 2022		2,500,000
Balances, beginning of period at Mar. 31, 2022	$ 371,007	$ 49,826	$ 65	18,353	333,365	19,224
Balances, beginning of period, common stock (in shares) at Mar. 31, 2022			6,488,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	5,908				5,908
Net unrealized gain (loss) from currency translation adjustment, net of tax expense (benefit)	(698)					(698)
Net unrealized gain (loss) from derivative instruments, net of tax expense (benefit)	3,302					3,302
Shares repurchased (in shares)			(101,000)
Shares repurchased	(3,338)		$ (1)	(3,337)
Shares issued under stock compensation plans (in shares)			330,000
Shares issued under stock compensation plans	0		$ (1)	1
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(108,000)
Cancellation of restricted stock in satisfaction of withholding tax	(3,496)			(3,496)
Stock-based compensation expense, net of forfeitures	3,041			3,041
Accretion of preferred shares issuance costs	(21)	$ 21			(21)
Preferred stock dividends	$ (811)				(811)
Balances, ending of period, preferred stock (in shares) at Jun. 30, 2022	2,500,000	2,500,000
Balances, end of period at Jun. 30, 2022	$ 374,894	$ 49,847	$ 63	$ 14,562	$ 338,441	$ 21,828
Balances, ending of period, common stock (in shares) at Jun. 30, 2022	6,609,000		6,609,000