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Short-term and long-term debt - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Apr. 23, 2020
Dec. 19, 2019
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Sep. 30, 2021
Sep. 30, 2021
Dec. 31, 2020
Oct. 10, 2017
Forgiveness of loan                           $ (2,475,000)    
Paycheck Protection Program [Member] | CARES Act Loan [Member]                                
Debt Instrument, Interest Rate, Stated Percentage 1.00%                              
Unsecured loan $ 2,475,000                              
Term of unforgiven loan 2 years                              
Deferral term of unforgiven loan 9 months                              
Forgiveness of loan                         $ 2,475,000      
TLR [Member]                                
Total Leverage Ratio                           2.35% 5.84%  
Term Loan Facility [Member]                                
Percent per annum       10.25%                 10.25% 10.25%    
First Amendment                                
Line of Credit Facility, Maximum Borrowing Capacity $ 2,500,000                              
Fourth Amendment                                
Principal repayment   $ 14,000,000                            
Total Leverage Ratio     5.36% 6.08% 7.03% 7.75% 8.89% 8.89% 10.87% 16.57% 14.54% 15.67%        
Minimum Aggregate Undrawn Availability Excess Cash Flow Calculation   $ 5,000,000                            
Last twelve months adjusted earnings before interest, tax, depreciation and amortization     $ 16,267,000 $ 15,431,000 $ 14,566,000 $ 14,295,000 $ 12,300,000 $ 12,021,000.000 $ 11,745,000 $ 7,359,000 $ 7,954,000 $ 7,887,000        
Threshold period after trigger event the entity shall commence transaction                           6 months    
Threshold period after trigger event the entity shall consummate transaction   18 months                            
Fourth Amendment | Effective March 31, 2020 [Member]                                
Principal repayment   $ 562,000                            
Fourth Amendment | Effective December 31, 2020 [Member]                                
Principal repayment   $ 1,312,000                            
Fourth Amendment | Through March 31, 2020 [Member]                                
Amendment fee (as a percent)   0.50%                            
Fourth Amendment | From April 1, 2020 through March 31, 2021 [Member]                                
Amendment fee (as a percent)   2.50%                            
Fourth Amendment | From April 1, 2021 and thereafter [Member]                                
Amendment fee (as a percent)   5.00%                            
Fifth Amendment To Term Loan Credit And Security Agreement [Member]                                
Line of Credit Facility, Maximum Borrowing Capacity $ 2,500,000                              
Maximum | Term Loan Facility [Member]                                
Debt Instrument, Interest Rate, Stated Percentage       3.00%                 3.00% 3.00%    
Vehicle and Equipment Loans                                
Line of Credit Facility, Expiration Period                           60 months    
Vehicle and Equipment Loans | Minimum                                
Credit facility effective rate of interest       0.00%                 0.00% 0.00%    
Vehicle and Equipment Loans | Maximum                                
Credit facility effective rate of interest       8.30%                 8.30% 8.30%    
Term Loan                                
Debt Instrument, Face Amount                               $ 105,000,000
Term Loan | Fourth Amendment                                
Amendment fee (as a percent)   0.50%                            
Deferred Financing Costs   $ 500,000                            
Domestic Rate Loans [Member] | Amended And Restated Revolving Credit And Security Agreement | London Interbank Offered Rate Daily Libor [Member]                                
Debt Instrument, Basis Spread on Variable Rate   1.00%                            
Domestic Rate Loans [Member] | Amended And Restated Revolving Credit And Security Agreement | Federal Funds Purchased [Member]                                
Debt Instrument, Basis Spread on Variable Rate   0.50%                            
Domestic Rate Loans [Member] | Minimum | Amended And Restated Revolving Credit And Security Agreement                                
Additional interest percentage   1.25%                            
Domestic Rate Loans [Member] | Maximum | Amended And Restated Revolving Credit And Security Agreement                                
Additional interest percentage   1.75%                            
Eurodollar Rate Loans [Member] | Minimum | Amended And Restated Revolving Credit And Security Agreement | Euro Dollar                                
Debt Instrument, Basis Spread on Variable Rate   2.25%                            
Eurodollar Rate Loans [Member] | Maximum | Amended And Restated Revolving Credit And Security Agreement | Euro Dollar                                
Debt Instrument, Basis Spread on Variable Rate   2.75%                            
Wells Fargo | Amended And Restated Revolving Credit And Security Agreement                                
Line of Credit Facility, Maximum Borrowing Capacity   $ 60,000,000                            
Wells Fargo | Swing Line Loan [Member]                                
Line of Credit Facility, Maximum Borrowing Capacity   5,000,000                            
Wells Fargo | Letter of Credit [Member]                                
Line of Credit Facility, Maximum Borrowing Capacity   2,000,000                            
Wells Fargo | Revolving Credit Facility                                
Minimum amount to be derived from availability   3,000,000                            
Minimum aggregate undrawn loan availability   $ 7,500,000                            
Wells Fargo | Revolving Credit Facility | FCCR [Member]                                
Fixed Charges Coverage Ratio   1.00                            
Period for FCCR covenant   2 months                            
Revolver Guaranty and Security Agreement | Wells Fargo                                
Right to dominion over certain borrower's bank accounts                           $ 9,000,000