CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Common Stock [Member]	Retained Earnings [Member]	AOCI Attributable to Parent [Member]	Total
Beginning balance, value at Dec. 31, 2017	$ 71,582	$ 119,537	$ (7,182)	$ 183,937
Balance at beginning (in shares) at Dec. 31, 2017	21,489
Common stock issued upon exercise of options and warrants	$ 483			483
Common stock issued upon exercise of options and warrants (in shares)	2,315
Repurchase of common stock	$ (5,307)			(5,307)
Repurchase of common stock (in shares)	(1,382)
Other comprehensive income (loss)			(372)	(372)
Stock-based compensation	3,515			3,515
Net income		14,862		14,862
Ending balance, value at Dec. 31, 2018	$ 70,273	134,399	(7,554)	197,118
Balance at end (in shares) at Dec. 31, 2018	22,422
Common stock issued upon exercise of options and warrants	$ 352			352
Common stock issued upon exercise of options and warrants (in shares)	488
Repurchase of common stock	$ (1,440)			(1,440)
Repurchase of common stock (in shares)	(379)
Other comprehensive income (loss)			(867)	(867)
Stock-based compensation	2,072			2,072
Net income		5,406		5,406
Ending balance, value at Dec. 31, 2019	$ 71,257	139,805	(8,421)	202,641
Balance at end (in shares) at Dec. 31, 2019	22,531
Balance, beginning of period (as adjusted after adoption of ASC)	$ 71,257	47,330	(8,421)	110,166
Balance, beginning of period (as adjusted after adoption of ASC) (in shares)	22,531
Adoption of ASC 326		(92,475)		(92,475)
Common stock issued upon exercise of options and warrants	$ 949			949
Common stock issued upon exercise of options and warrants (in shares)	558
Repurchase of common stock	$ (1,215)			(1,215)
Repurchase of common stock (in shares)	(352)
Other comprehensive income (loss)			(150)	(150)
Stock-based compensation	1,935			1,935
Net income		21,677		21,677
Ending balance, value at Dec. 31, 2020	$ 72,926	$ 69,007	$ (8,571)	$ 133,362
Balance at end (in shares) at Dec. 31, 2020	22,737