CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Mar. 31, 2021	Dec. 31, 2020
Shareholders’ equity:
Preferred stock, par value (in dollars per share)	$ 0.02	$ 0.02
Preferred stock authorized (in shares)	1,000,000	1,000,000
Common stock per value (in dollars per share)	$ 0.02	$ 0.02
Common stock authorized (in shares)	58,000,000	58,000,000
Common stock issued (in shares)	23,103,979	22,982,955
Common stock outstanding (in shares)	21,961,788	21,917,357
Treasury stock at cost (in shares)	1,142,191	1,065,598