Consolidated Statements of Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Retained Earnings	Treasury Stock	Accumulated Other Comprehensive Loss
Balance at Dec. 31, 2020	$ 746,961	$ 23	$ 369,058	$ 588,731	$ (196,745)	$ (14,106)
Balance (in shares) at Dec. 31, 2020		18,910			4,395
Net Income	71,132			71,132
Other comprehensive income (loss)	3,071					3,071
Equity compensation	13,230		13,230
Exercise of stock options	233		233
Exercise of stock options (in shares)		8
Issuance of shares pursuant to employee stock purchase plan and vesting of restricted stock units	2,463		2,463
Issuance of shares pursuant to employee stock purchase plan and vesting of restricted stock units (in shares)		222
Net payments for stock buybacks	(23,055)				$ (23,055)
Net payments for stock buybacks (in shares)		(264)			264
Balance at Dec. 31, 2021	803,470	$ 23	384,984	649,298	$ (219,800)	(11,035)
Dividends declared	(10,565)			(10,565)
Balance (in shares) at Dec. 31, 2021		18,876			4,659
Net Income	64,243			64,243
Other comprehensive income (loss)	2,902					2,902
Equity compensation	13,171		13,171
Exercise of stock options	602		602
Exercise of stock options (in shares)		19
Issuance of shares pursuant to employee stock purchase plan and vesting of restricted stock units	3,200		3,200
Issuance of shares pursuant to employee stock purchase plan and vesting of restricted stock units (in shares)		235
Net payments for stock buybacks	(23,866)				$ (23,866)
Net payments for stock buybacks (in shares)		(247)			247
Balance at Dec. 31, 2022	853,211	$ 23	401,957	703,030	$ (243,666)	(8,133)
Dividends declared	(10,511)			(10,511)
Balance (in shares) at Dec. 31, 2022		18,883			4,906
Net Income	82,612			82,612
Other comprehensive income (loss)	(3,752)					(3,752)
Equity compensation	14,861		14,861
Exercise of stock options	279		279
Exercise of stock options (in shares)		8
Issuance of shares pursuant to employee stock purchase plan and vesting of restricted stock units		$ 1	4,405
Issuance of shares pursuant to employee stock purchase plan and vesting of restricted stock units (in shares)		185
Net payments for stock buybacks	(23,489)				$ (23,489)
Net payments for stock buybacks (in shares)		(230)			230
Balance at Dec. 31, 2023	917,585	$ 24	$ 421,502	775,099	$ (267,155)	$ (11,885)
Dividends declared	$ (10,543)			$ (10,543)
Balance (in shares) at Dec. 31, 2023		18,846			5,136