CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Shares outstanding	18,393,888
Common stock options exercised, shares	9,260
Issuance of shares for Employee Stock Purchase Plan, shares	6,808	8,425
Shares outstanding	18,370,312
Common Stock [Member]
Shares outstanding	18,393,888	18,974,703
Restricted stock units issued, shares	306,684	267,148
Restricted stock units/awards repurchased on vesting to pay taxes, shares	(67,999)	(64,653)
Cash dividends declared on common stock, per share	$ 0.05	$ 0.05
Share repurchase, share	(299,878)	(158,033)
Common stock options exercised, shares	9,260	820
Common stock options exercised, used to exercise, shares		62
Common stock options exercised, net of shares used to exercise, shares		758
Exercise of warrants, shares	49,860	20,000
Exercise of warrants, used to exercise, shares	28,311	13,478
Exercise of warrants, net of shares used to exercise, shares	21,549	6,522
Issuance of shares for Employee Stock Purchase Plan, shares	6,808	8,425
Shares outstanding	18,370,312	19,034,870