CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Shares outstanding			18,393,888
Common stock options exercised, shares			9,660
Issuance of shares for Employee Stock Purchase Plan, shares	6,441	6,889	20,369	21,661
Shares outstanding	17,920,571		17,920,571
Common Stock [Member]
Shares outstanding	18,190,009	18,829,877	18,393,888	18,974,703
Restricted stock units issued, shares			325,607	288,348
Restricted stock units/awards repurchased on vesting to pay taxes, shares			(74,445)	(71,749)
Cash dividends declared on common stock, per share	$ 0.05	$ 0.05	$ 0.15	$ 0.15
Share repurchase, share	(290,399)	(227,060)	(790,277)	(619,815)
Common stock options exercised, shares	300	400	9,660	3,220
Common stock options exercised, used to exercise, shares				62
Common stock options exercised, net of shares used to exercise, shares				3,158
Exercise of warrants, shares		10,000	49,860	50,000
Exercise of warrants, used to exercise, shares		6,416	28,311	32,616
Exercise of warrants, net of shares used to exercise, shares		3,584	21,549	17,384
Issuance of shares for Employee Stock Purchase Plan, shares	6,441	6,889	20,369	21,661
Issuance of common stock for acquisition, shares	14,220	14,220	14,220	14,220
Shares outstanding	17,920,571	18,627,910	17,920,571	18,627,910