Consolidated Statements of Operations - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Net sales	$ 193,484	$ 161,651	$ 154,424
Cost of sales	66,435	56,755	53,042
Gross profit	127,049	104,896	101,382
Sales and marketing	41,054	32,921	27,655
General and administrative	31,832	28,745	25,501
Research and development	16,966	13,294	11,801
Restructuring	485	3,107	0
Total operating expenses	90,337	78,067	64,957
Income from operations	36,712	26,829	36,425
Other income (expense):	3,077	986	197
Interest expense	(0)	(0)	2,219
Other income (loss), net	(314)	(325)	(116)
Income before income taxes	39,475	27,490	34,287
Provision for income taxes	9,370	6,854	7,380
Net income	$ 30,105	$ 20,636	$ 26,907
Earnings per share of common stock: (in dollars per share)	$ 1.36	$ 0.94	$ 1.27
Diluted (in dollars per share)	$ 1.34	$ 0.93	$ 1.25
Weighted-average shares outstanding: (in shares)	22,217	21,975	21,157
Diluted (in shares)	22,423	22,171	21,475
Cash dividends declared per common share (in dollars per share)	$ 0.56	$ 0.5	$ 0.44