Consolidated Statements of Shareholders' Equity - USD ($) $ in Thousands	Total	Common Stock [Member]	Capital in Excess of Par Value [Member]	Accumulated Loss [Member]	Accumulated Other Comprehensive Loss [Member]	Treasury Stock, Common [Member]	Noncontrolling Interest [Member]
Translation loss gain	$ 5,820
Beginning Balance at Dec. 31, 2020	203,611	$ 355	$ 255,296	$ (38,141)	$ (14,496)	$ (356)	$ 953
Beginning Balance, Shares at Dec. 31, 2020		35,505,000				(138)
Net income	1,983			1,426			557
Exercise of stock options	$ 13		13
Exercise of stock options, Shares	2,000	2
Restricted stock units issued	$ (514)	$ 3	(517)
Restricted stock units issued, Shares		263
Share-based compensation earned	3,558		3,558
Share-based compensation earned, Shares		39
Common stock repurchase and retirement, Amount	(5,013)	$ (8)	(5,361)			$ 356
Common stock repurchase and retirement, Shares		(781)				138
Adjustment for minimum pension liability, net of tax	2,964				2,964
Translation loss	(538)				(538)
Noncontrolling interest distribution/acquired	(107)						(107)
Minimum pension liability adjustment beginning balance at Dec. 31, 2020	(8,676)
Accumulated other comprehensive loss, beginning balance at Dec. 31, 2020	(14,496)
Accumulated other comprehensive loss, activity	2,426
Minimum pension liability adjustment ending balance at Dec. 31, 2021	(5,712)
Accumulated other comprehensive loss, ending balance at Dec. 31, 2021	(12,070)
Ending Balance at Dec. 31, 2021	205,957	$ 350	252,989	(36,715)	(12,070)		1,403
Ending Balance, Shares at Dec. 31, 2021		35,028,000
Translation loss gain	6,358
Net income	18,263			17,417			846
Exercise of stock options	$ 377		377
Exercise of stock options, Shares	42,000	43
Restricted stock units issued	$ (440)	$ 3	(443)
Restricted stock units issued, Shares		286
Share-based compensation earned	4,262	$ 1	4,261
Share-based compensation earned, Shares		57
Common stock repurchase and retirement, Amount	(7,020)	$ (10)	(7,010)
Common stock repurchase and retirement, Shares		(1,032)
Adjustment for minimum pension liability, net of tax	(291)				(291)
Translation loss	(5,635)				(5,635)
Noncontrolling interest distribution/acquired	(1,425)						(1,425)
Accumulated other comprehensive loss, activity	(5,926)
Minimum pension liability adjustment ending balance at Dec. 31, 2022	(6,003)
Accumulated other comprehensive loss, ending balance at Dec. 31, 2022	(17,996)
Fair value of noncontrolling interest equity issued (see Note 14)	4,100						4,100
Ending Balance at Dec. 31, 2022	218,148	$ 344	250,174	(19,298)	(17,996)		4,924
Ending Balance, Shares at Dec. 31, 2022		34,382,000
Translation loss gain	11,993
Net income	14,501			12,911			1,590
Exercise of stock options	$ 1,210	$ 1	1,209
Exercise of stock options, Shares	101,000	101
Restricted stock units issued	$ (1,186)	$ 3	(1,189)
Restricted stock units issued, Shares		328
Share-based compensation earned	4,762		4,762
Share-based compensation earned, Shares		24
Adjustment for minimum pension liability, net of tax	1,225				1,225
Translation loss	497				497
Noncontrolling interest distribution/acquired	(1,666)						(1,666)
Accumulated other comprehensive loss, activity	1,722
Minimum pension liability adjustment ending balance at Dec. 31, 2023	(4,778)
Accumulated other comprehensive loss, ending balance at Dec. 31, 2023	(16,274)
Ending Balance at Dec. 31, 2023	237,491	$ 348	$ 254,956	$ (6,387)	$ (16,274)		$ 4,848
Ending Balance, Shares at Dec. 31, 2023		34,835,000
Translation loss gain	$ 11,496