CONSOLIDATED STATEMENTS OF INCOME (LOSS) - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenues:
Total revenues	$ 424,060	$ 361,924	$ 322,448
Cost of sales:
Total cost of sales	308,503	265,935	242,356
Selling, general and administrative	101,517	94,206	115,036
Engineering and product development	12,649	11,740	15,104
Restructuring and other charges	3,245	13,364	78,933
Gain on sale of property, plant and equipment	(8,754)	(20,019)	(4,482)
Acquisition costs	6,451	0	0
Change in fair value of earn-out liability	(2,282)	0	0
Foreign currency transaction loss (gain)	(2,549)	(3,756)	836
Total costs and expenses	418,780	361,470	447,783
Operating income (loss)	5,280	454	(125,335)
Interest expense (income), net	(8,188)	(4,249)	212
Income (loss) before income taxes	13,468	4,703	(125,547)
Income tax provision	12,864	6,327	2,946
Net income (loss)	$ 604	$ (1,624)	$ (128,493)
Net income (loss) per common share:
Basic	$ 0.02	$ (0.05)	$ (3.63)
Diluted	$ 0.02	$ (0.05)	$ (3.63)
Weighted average common shares outstanding:
Basic	34,174	34,237	35,331
Diluted	34,473	34,237	35,331
Products
Revenues:
Revenues from products and services	$ 271,021	$ 240,762	$ 213,263
Cost of sales:
Total cost of sales	211,414	203,759	178,494
Services
Revenues:
Revenues from products and services	105,680	79,129	74,143
Cost of sales:
Total cost of sales	72,900	32,046	33,173
Leasing
Revenues:
Leasing	47,359	42,033	35,042
Cost of sales:
Total cost of sales	$ 24,189	$ 30,130	$ 30,689