Consolidated Statements of Shareholders' Equity - USD ($) $ in Thousands	Total	Cumulative Effect Period of Adoption Adjustment [Member]	Common Shares [Member]	Common Shares [Member] Cumulative Effect Period of Adoption Adjustment [Member]	Additional Paid-In Capital [Member]	Additional Paid-In Capital [Member] Cumulative Effect Period of Adoption Adjustment [Member]	Accumulated Other Comprehensive Income (Loss) [Member]	Accumulated Other Comprehensive Income (Loss) [Member] Cumulative Effect Period of Adoption Adjustment [Member]	Retained Deficit [Member]	Retained Deficit [Member] Cumulative Effect Period of Adoption Adjustment [Member]
Beginning balance at Dec. 31, 2018	$ 154,638	$ 905	$ 21,547	$ 0	$ 292,558	$ 0	$ (18,280)	$ (0)	$ (141,187)	$ 905
Beginning balance, shares at Dec. 31, 2018			35,374,121
Stockholders' Equity [Roll Forward]
Net income	24,333		$ 0		0		0		24,333
Beginning balance at Dec. 31, 2018	154,638	$ 905	21,547	$ 0	292,558	$ 0	(18,280)	$ (0)	(141,187)	$ 905
Stockholders' Equity [Roll Forward]
Accounting Standards Update [Extensible List]		us-gaap:AccountingStandardsUpdate201602Member								us-gaap:AccountingStandardsUpdate201602Member
Issuances under option plans	$ 3,207		$ 146		3,061		0		0
Issuances under option plans, shares	221,695		240,499
Dividend reinvestment plan	$ 129		$ 5		124		0		0
Dividend reinvestment plan, shares			7,619
Restricted stock vested	0		$ 87		(87)		0		0
Restricted stock vested, shares			142,580
Stock compensation expense	1,715		$ 0		1,715		0		0
Shares withheld for employee taxes on equity awards	(1,008)		$ 0		(1,008)		0		0
Shares withheld for employee taxes on equity awards, shares			(53,885)
Foreign currency translation adjustment	1,649		$ 0		0		1,649		0
Declared dividends	(19,168)		0		0		0		(19,168)
Pension liability, net of tax	282		0		0		282		0
Ending balance at Dec. 31, 2019	166,682		$ 21,785		296,363		(16,349)		(135,117)
Ending balance, shares at Dec. 31, 2019			35,710,934
Stockholders' Equity [Roll Forward]
Net income	36,769		$ 0		0		0		36,769
Beginning balance at Dec. 31, 2019	166,682		21,785		296,363		(16,349)		(135,117)
Stockholders' Equity [Roll Forward]
Issuances under option plans	$ 1,631		$ 77		1,554		0		0
Issuances under option plans, shares	97,779		127,049
Dividend reinvestment plan	$ 101		$ 5		96		0		0
Dividend reinvestment plan, shares			7,668
Restricted stock vested	0		$ 72		(72)		0		0
Restricted stock vested, shares			118,686
Stock compensation expense	3,534		$ 0		3,534		0		0
Shares withheld for employee taxes on equity awards	(623)		$ 0		(623)		0		0
Shares withheld for employee taxes on equity awards, shares			(43,312)
Foreign currency translation adjustment	628		$ 0		0		628		0
Declared dividends	(19,570)		0		0		0		(19,570)
Pension liability, net of tax	(52)		0		0		(52)		0
Ending balance at Dec. 31, 2020	$ 189,100		$ 21,939		300,852		(15,773)		(117,918)
Ending balance, shares at Dec. 31, 2020	35,921,025		35,921,025
Stockholders' Equity [Roll Forward]
Net income	$ 33,538		$ 0		0		0		33,538
Beginning balance at Dec. 31, 2020	189,100		21,939		300,852		(15,773)		(117,918)
Stockholders' Equity [Roll Forward]
Issuances under option plans	$ 3,696		$ 135		3,561		0		0
Issuances under option plans, shares	192,504		221,060
Dividend reinvestment plan	$ 97		$ 3		94		0		0
Dividend reinvestment plan, shares			4,636
Restricted stock vested	0		$ 95		(95)		0		0
Restricted stock vested, shares			155,406
Stock compensation expense	3,196		$ 0		3,196		0		0
Shares withheld for employee taxes on equity awards	(888)		$ 0		(888)		0		0
Shares withheld for employee taxes on equity awards, shares			(39,868)
Foreign currency translation adjustment	39		$ 0		0		39		0
Declared dividends	(19,786)		0		0		0		(19,786)
Pension liability, net of tax	333		0		0		333		0
Ending balance at Dec. 31, 2021	$ 209,325		$ 22,172		$ 306,720		$ (15,401)		$ (104,166)
Ending balance, shares at Dec. 31, 2021	36,262,259		36,262,259