Consolidated Statements of Changes in Shareholders' Equity - USD ($) $ in Thousands	Common Stock [Member]	Additional Paid-in Capital [Member]	AOCI Attributable to Parent [Member]	Retained Earnings [Member]	Treasury Stock [Member]	Noncontrolling Interest [Member]	Total
Balance (in shares) at Dec. 31, 2018	20,053,335
Balance at Dec. 31, 2018	$ 2,005	$ 182,630	$ (2,786)	$ (58,035)	$ (19,266)	$ (85)	$ 104,463
Net income				5,205		109	5,314
Share repurchases					(1,957)		$ (1,957)
Stock option exercises (in shares)	208,881						208,881
Stock option exercises	$ 21	909					$ 930
Stock-based compensation -stock options		623					623
Stock-based compensation -restricted stock		130
Vesting of restricted stock (in shares)	5,834
Vesting of restricted stock					(8)		(8)
Foreign currency translation adjustments			255				$ 255
Balance (in shares) at Dec. 31, 2019	20,268,050						15,866,868
Balance at Dec. 31, 2019	$ 2,026	184,292	(2,531)	(52,830)	(21,231)	24	$ 109,750
Net income				5,232		99	$ 5,331
Stock option exercises (in shares)	92,968						355,797
Stock option exercises	$ 9	229					$ 163
Stock-based compensation -stock options		838					838
Stock-based compensation -restricted stock		105					105
Vesting of restricted stock (in shares)	12,501
Foreign currency translation adjustments			749				749
Vesting of restricted stock	$ 2				(15)		$ (13)
Balance (in shares) at Dec. 31, 2020	20,373,519						15,959,984
Balance at Dec. 31, 2020	$ 2,037	$ 185,464	$ (1,782)	$ (47,598)	$ (21,321)	$ 123	$ 116,923