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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Accounts receivable allowance $ 1,854 $ 5,262
Common stock, shares authorized (in shares) 40,000,000 40,000,000
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares issued (in shares) 17,784,769 17,473,598
Common stock, shares outstanding (in shares) 17,784,769 17,473,598
Treasury shares, shares (in shares) 4,970,093 4,126,132
Convertible Preferred Stock    
Convertible Preferred Stock, Shares Authorized (in shares) 10,000,000 10,000,000
Convertible Preferred Stock, Par Value (in dollars per share) $ 0.001 $ 0.001
Convertible Preferred Stock, Shares Issued (in shares) 801,606 803,200
Convertible Preferred Stock, Shares Outstanding (in shares) 801,606 803,200
Convertible Preferred Stock | Cash Dividends    
Convertible Preferred Stock, Dividend Rate 5.50% 8.50%