CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Shares outstanding	17,813,451
Common stock options exercised, shares	2,600
Issuance of shares for Employee Stock Purchase Plan, shares	33,748	25,023	26,693
Share repurchase, share	(455,341)	(930,977)
Shares outstanding	17,739,677	17,813,451
Common Stock [Member]
Shares outstanding	17,813,451	18,393,888	18,974,703
Restricted stock units issued, shares	434,000	347,623	301,626
Restricted stock units/awards repurchased on vesting to pay taxes, shares	(107,918)	(80,400)	(76,187)
Cash dividends declared on common stock, per share	$ 0.20	$ 0.20	$ 0.20
Common stock options exercised, shares	2,600	23,640	16,640
Common stock options exercised, used to exercise, shares	60	1,115	258
Common stock options exercised, net of shares used to exercise, shares	2,540	22,525	16,382
Issuance of shares for Employee Stock Purchase Plan, shares	33,748	25,023	26,693
Share repurchase, share	(455,341)	(930,977)	(894,744)
Issuance of common stock for acquisition, shares	19,197	14,220	23,981
Exercise of warrants, shares		49,860	60,000
Exercise of warrants, used to exercise, shares		28,311	38,566
Exercise of warrants, net of shares used to exercise, shares		21,549	21,434
Shares outstanding	17,739,677	17,813,451	18,393,888