Condensed Consolidated Statements of Redeemable Preferred Stock and Shareholders' Equity - USD ($) $ in Thousands	Total	Cumulative Effect, Period of Adoption, Adjustment	Common Stock	Paid in Capital in Excess of Par	Retained Earnings	Retained Earnings Cumulative Effect, Period of Adoption, Adjustment	Accumulated Other Comprehensive Income	Redeemable Preferred Stock
Beginning balance (in shares) at Dec. 31, 2022								2,500,000
Beginning balance at Dec. 31, 2022								$ 49,889
Increase (Decrease) in Temporary Equity [Roll Forward]
Accretion of preferred stock issuance costs	$ 21				$ 21			$ (21)
Ending balances (in shares) at Mar. 31, 2023								2,500,000
Ending balances at Mar. 31, 2023								$ 49,910
Beginning balance(in shares) at Dec. 31, 2022			6,615,000
Beginning balance at Dec. 31, 2022	404,688	$ (84)	$ 66	$ 20,386	357,493	$ (84)	$ 26,743
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	4,394				4,394
Net unrealized gain (loss) from currency translation adjustment, net of tax benefit	81						81
Net unrealized loss from derivative instruments, net of tax benefit (expense)	(5,382)						(5,382)
Shares issued under stock compensation plans (in shares)			6,000
Shares issued under stock compensation plans	177			177
Cancellation of restricted stock in satisfaction of withholding tax (in shares)			(2,000)
Stock-based compensation expense, net of forfeitures	2,937			2,937
Accretion of preferred shares issuance costs	(21)				(21)			$ 21
Preferred stock dividends	(801)				(801)
Ending balances (in shares) at Mar. 31, 2023			6,619,000
Ending balances at Mar. 31, 2023	$ 405,989		$ 66	23,500	360,981		21,442
Beginning balance (in shares) at Dec. 31, 2023	2,500,000							2,500,000
Beginning balance at Dec. 31, 2023	$ 49,964							$ 49,964
Increase (Decrease) in Temporary Equity [Roll Forward]
Accretion of preferred stock issuance costs	$ 12				12			$ (12)
Ending balances (in shares) at Mar. 31, 2024	2,500,000							2,500,000
Ending balances at Mar. 31, 2024	$ 49,976							$ 49,976
Beginning balance(in shares) at Dec. 31, 2023	6,849,000		6,849,000
Beginning balance at Dec. 31, 2023	$ 438,963		$ 68	29,667	397,781		11,447
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	20,869				20,869
Net unrealized gain (loss) from currency translation adjustment, net of tax benefit	(267)						(267)
Net unrealized loss from derivative instruments, net of tax benefit (expense)	(847)						(847)
Shares issued under stock compensation plans (in shares)			10,000
Shares issued under stock compensation plans	178		$ 1	177
Stock-based compensation expense, net of forfeitures	3,813			3,813
Accretion of preferred shares issuance costs	(12)				(12)			$ 12
Preferred stock dividends	$ (900)				(900)
Ending balances (in shares) at Mar. 31, 2024	6,859,000		6,859,000
Ending balances at Mar. 31, 2024	$ 461,797		$ 69	$ 33,657	$ 417,738		$ 10,333