CONSOLIDATED STATEMENTS OF EQUITY - USD ($) $ in Thousands	Total	Preferred Stock Series A preferred Stock	Preferred Stock Series B convertible preferred Stock	Common Stock	Paid-in Capital	Retained earnings	Treasury stock	Non controlling interest	Accum Other Comp Loss
Beginning Balance at Dec. 31, 2020	$ 349,120	$ 1	$ 15	$ 189	$ 192,068	$ 186,078	$ 0	$ 798	$ (30,029)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Preferred dividends paid	(90)					(90)
Compensation expense for restricted stock	1,767				1,767
Stock compensation expense	56				56
Tax related items for share based awards	(637)				(637)
Issuance of shares of common stock	13,524			6	13,518
Currency translation adjustment	747								747
Repurchases of shares	(33,511)						(33,511)
Net income	15,751					16,496		(745)
Ending Balance at Dec. 31, 2021	346,727	1	15	195	206,772	202,484	(33,511)	53	(29,282)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Preferred dividends paid	(90)					(90)
Compensation expense for restricted stock	1,850				1,850
Tax related items for share based awards	(292)				(292)
Issuance of shares of common stock	5,757			150	5,607
Currency translation adjustment	(2,393)								(2,393)
Repurchases of shares	(34,269)						(34,269)
Net income	48,102					48,155		(53)
Ending Balance at Dec. 31, 2022	365,392	1	15	345	213,937	250,549	(67,780)	0	(31,675)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Preferred dividends paid	(90)					(90)
Compensation expense for restricted stock	3,072				3,072
Tax related items for share based awards	(527)				(527)
Currency translation adjustment	435								435
Repurchases of shares	(56,215)						(56,215)
Net income	68,812					68,812
Ending Balance at Dec. 31, 2023	$ 380,879	$ 1	$ 15	$ 345	$ 216,482	$ 319,271	$ (123,995)	$ 0	$ (31,240)