Consolidated Statements of Shareholders' Equity - USD ($) $ in Thousands	Total	Common Shares [Member]	Additional Paid-In Capital [Member]	Accumulated Other Comprehensive Income (Loss) [Member]	Retained Deficit [Member]
Beginning balance at Dec. 31, 2019	$ 166,682	$ 21,785	$ 296,363	$ (16,349)	$ (135,117)
Beginning balance, shares at Dec. 31, 2019		35,710,934
Stockholders' Equity [Roll Forward]
Net income	36,769	$ 0	0	0	36,769
Beginning balance at Dec. 31, 2019	166,682	21,785	296,363	(16,349)	(135,117)
Stockholders' Equity [Roll Forward]
Issuances under option plans	$ 1,631	$ 77	1,554	0	0
Issuances under option plans, shares	97,779	127,049
Dividend reinvestment plan	$ 101	$ 5	96	0	0
Dividend reinvestment plan, shares		7,668
Restricted stock vested	0	$ 72	(72)	0	0
Restricted stock vested, shares		118,686
Stock compensation expense	3,534	$ 0	3,534	0	0
Shares withheld for employee taxes on equity awards	(623)	$ 0	(623)	0	0
Shares withheld for employee taxes on equity awards, shares		(43,312)
Foreign currency translation adjustment	628	$ 0	0	628	0
Declared dividends	(19,570)	0	0	0	(19,570)
Pension liability, net of tax	(52)	0	0	(52)	0
Ending balance at Dec. 31, 2020	189,100	$ 21,939	300,852	(15,773)	(117,918)
Ending balance, shares at Dec. 31, 2020		35,921,025
Stockholders' Equity [Roll Forward]
Net income	33,538	$ 0	0	0	33,538
Beginning balance at Dec. 31, 2020	189,100	21,939	300,852	(15,773)	(117,918)
Stockholders' Equity [Roll Forward]
Issuances under option plans	$ 3,696	$ 135	3,561	0	0
Issuances under option plans, shares	192,504	221,060
Dividend reinvestment plan	$ 97	$ 3	94	0	0
Dividend reinvestment plan, shares		4,636
Restricted stock vested	0	$ 95	(95)	0	0
Restricted stock vested, shares		155,406
Stock compensation expense	3,196	$ 0	3,196	0	0
Shares withheld for employee taxes on equity awards	(888)	$ 0	(888)	0	0
Shares withheld for employee taxes on equity awards, shares		(39,868)
Foreign currency translation adjustment	39	$ 0	0	39	0
Declared dividends	(19,786)	0	0	0	(19,786)
Pension liability, net of tax	333	0	0	333	0
Ending balance at Dec. 31, 2021	$ 209,325	$ 22,172	306,720	(15,401)	(104,166)
Ending balance, shares at Dec. 31, 2021	36,262,259	36,262,259
Stockholders' Equity [Roll Forward]
Net income	$ 60,267	$ 0	0	0	60,267
Beginning balance at Dec. 31, 2021	209,325	22,172	306,720	(15,401)	(104,166)
Stockholders' Equity [Roll Forward]
Issuances under option plans	$ 2,235	$ 78	2,157	0	0
Issuances under option plans, shares	83,102	127,881
Dividend reinvestment plan	$ 85	$ 3	82	0	0
Dividend reinvestment plan, shares		4,218
Restricted stock vested	0	$ 79	(79)	0	0
Restricted stock vested, shares		130,386
Stock compensation expense	7,436	$ 0	7,436	0	0
Shares withheld for employee taxes on equity awards	(451)	$ 0	(451)	0	0
Shares withheld for employee taxes on equity awards, shares		(24,724)
Foreign currency translation adjustment	(2,475)	$ 0	0	2,475	0
Declared dividends	(20,078)	0	0	0	(20,078)
Pension liability, net of tax	83	0	0	83	0
Ending balance at Dec. 31, 2022	$ 256,427	$ 22,332	$ 315,865	$ (17,793)	$ (63,977)
Ending balance, shares at Dec. 31, 2022	36,500,020	36,500,020