Consolidated Statements of Shareholders' Equity - USD ($) $ in Thousands	Total	Common Shares [Member]	Additional Paid-In Capital [Member]	Accumulated Other Comprehensive Income (Loss) [Member]	Retained Deficit [Member]
Beginning balance at Dec. 31, 2020	$ 189,100	$ 21,939	$ 300,852	$ (15,773)	$ (117,918)
Beginning balance, shares at Dec. 31, 2020		35,921,025
Stockholders' Equity [Roll Forward]
Net Income (Loss)	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
Stockholders' Equity [Roll Forward]
Net Income (Loss)	60,267	$ 0	0	0	60,267
Beginning balance at Dec. 31, 2021	209,325	22,172	306,720	(15,401)	(104,166)
Stockholders' Equity [Roll Forward]
Issuances under option plans	$ 2,235	$ 78	2,157	0	0
Issuances under option plans, shares	83,102	127,881
Dividend reinvestment plan	$ 85	$ 3	82	0	0
Dividend reinvestment plan, shares		4,218
Restricted stock vested	0	$ 79	(79)	0	0
Restricted stock vested, shares		130,386
Stock compensation expense	7,436	$ 0	7,436	0	0
Shares withheld for employee taxes on equity awards	(451)	$ 0	(451)	0	0
Shares withheld for employee taxes on equity awards, shares		(24,724)
Foreign currency translation adjustment	(2,475)	$ 0	0	(2,475)	0
Declared dividends	(20,078)	0	0	0	(20,078)
Pension liability, net of tax	83	0	0	83	0
Ending balance at Dec. 31, 2022	$ 256,427	$ 22,332	315,865	(17,793)	(63,977)
Ending balance, shares at Dec. 31, 2022	36,500,020	36,500,020
Stockholders' Equity [Roll Forward]
Net Income (Loss)	$ 48,867	$ 0	0	0	48,867
Beginning balance at Dec. 31, 2022	256,427	22,332	315,865	(17,793)	(63,977)
Stockholders' Equity [Roll Forward]
Issuances under option plans	$ 2,253	$ 83	2,170	0	0
Issuances under option plans, shares	62,551	136,028
Dividend reinvestment plan	$ 85	$ 3	82	0	0
Dividend reinvestment plan, shares		4,241
Restricted stock vested	0	$ 190	(190)	0	0
Restricted stock vested, shares		312,056
Stock compensation expense	6,671	$ 0	6,671	0	0
Shares withheld for employee taxes on equity awards	(2,072)	$ 0	(2,072)	0	0
Shares withheld for employee taxes on equity awards, shares		(103,880)
Foreign currency translation adjustment	859	$ 0	0	859	0
Declared dividends	(20,409)	0	0	0	(20,409)
Pension liability, net of tax	119	0	0	119	0
Ending balance at Dec. 31, 2023	$ 292,800	$ 22,608	$ 322,526	$ (16,815)	$ (35,519)
Ending balance, shares at Dec. 31, 2023	36,848,465	36,848,465