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Long-term Debt and Line of Credit - Obligations under Debt Arrangements (Details) - USD ($)
$ in Thousands
1 Months Ended
Oct. 09, 2020
Jun. 08, 2020
May 31, 2019
Mar. 31, 2019
Jul. 31, 2018
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]              
Principal current           $ 39,141 $ 4,500
Principal, long-term           259 30,586
Principal           39,400 35,086
Deferred Issuance Costs, current             (156)
Deferred Issuance Costs, long-term             (1,063)
Debt Issuance Costs, Net, Total             (1,219)
Net Value, current           39,141 4,344
Net Value, long-term           259 29,523
Total debt           $ 39,400 33,867
Line of Credit              
Debt Instrument [Line Items]              
Weighted average interest rate           2.60%  
Other Debt              
Debt Instrument [Line Items]              
Principal current           $ 141  
Principal, long-term           259  
Principal           400  
Net Value, current           141  
Net Value, long-term           259  
Revolving Credit Facility              
Debt Instrument [Line Items]              
Line of credit facility, maximum borrowing capacity           50,000  
Principal current           39,000  
Net Value, current           $ 39,000  
Revolving Credit Facility | Line of Credit              
Debt Instrument [Line Items]              
Debt issuance expense     $ 400        
Principal, long-term             5,000
Deferred Issuance Costs, long-term             (174)
Net Value, long-term             4,826
Term Loan | Line of Credit              
Debt Instrument [Line Items]              
Principal current             4,500
Principal, long-term             25,586
Deferred Issuance Costs, current             (156)
Deferred Issuance Costs, long-term             (889)
Net Value, current             4,344
Net Value, long-term             24,697
364-Day Revolving Credit Facility              
Debt Instrument [Line Items]              
Line of credit facility, maximum borrowing capacity   $ 20,000          
Borrowings             0
364-Day Revolving Credit Facility | Line of Credit              
Debt Instrument [Line Items]              
Credit facility term   364 days          
Fourth, Fifth And Sixth Amendments To Credit Agreement              
Debt Instrument [Line Items]              
Debt Issuance Costs, Net, Total             $ (900)
Fourth Amendment to Credit Agreement | Line of Credit              
Debt Instrument [Line Items]              
Debt issuance cost         $ 900    
Fifth Amendment To Credit Agreement | Line of Credit              
Debt Instrument [Line Items]              
Debt issuance cost       $ 600      
Sixth Amendment To Credit Agreement              
Debt Instrument [Line Items]              
Line of credit facility, maximum borrowing capacity     50,000        
Sixth Amendment To Credit Agreement | Line of Credit              
Debt Instrument [Line Items]              
Debt issuance cost     $ 900        
Eighth Amendment to Credit Agreement | Line of Credit              
Debt Instrument [Line Items]              
Debt issuance cost $ 0