UNAUDITED CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Common Stock [Member]	Retained Earnings [Member]	AOCI Attributable to Parent [Member]	Total
Balance at beginning (in shares) at Dec. 31, 2018	22,422
Common stock issued upon exercise of options and warrants (in shares)	483
Repurchase of common stock (in shares)	(379)
Balance at end (in shares) at Sep. 30, 2019	22,526
Balance at beginning at Dec. 31, 2018	$ 70,273	$ 134,399	$ (7,554)
Common stock issued upon exercise of options and warrants	347
Repurchase of common stock	(1,440)
Cumulative change in accounting principle		0
Balance, beginning of period (as adjusted for change in accounting principle)		134,399
Pension benefit obligation			0	$ 0
Stock-based compensation	1,496
Net Income		5,377		5,377
Balance at end at Sep. 30, 2019	$ 70,676	139,776	(7,554)	202,898
Balance at beginning (in shares) at Jun. 30, 2019	22,526
Common stock issued upon exercise of options and warrants (in shares)	0
Repurchase of common stock (in shares)	0
Balance at end (in shares) at Sep. 30, 2019	22,526
Balance at beginning at Jun. 30, 2019	$ 70,299	137,938	(7,554)
Common stock issued upon exercise of options and warrants	0
Repurchase of common stock	0
Cumulative change in accounting principle		0
Balance, beginning of period (as adjusted for change in accounting principle)		137,938
Pension benefit obligation			0	0
Stock-based compensation	377
Net Income		1,838		1,838
Balance at end at Sep. 30, 2019	$ 70,676	139,776	(7,554)	202,898
Balance at beginning (in shares) at Dec. 31, 2019	22,531
Common stock issued upon exercise of options and warrants (in shares)	269
Repurchase of common stock (in shares)	(291)
Balance at end (in shares) at Sep. 30, 2020	22,509
Balance at beginning at Dec. 31, 2019	$ 71,257	139,805	(8,421)	202,641
Common stock issued upon exercise of options and warrants	470
Repurchase of common stock	(967)
Cumulative change in accounting principle		(92,469)
Balance, beginning of period (as adjusted for change in accounting principle)		47,336
Pension benefit obligation			0	0
Stock-based compensation	1,437
Net Income		17,532		17,532
Balance at end at Sep. 30, 2020	$ 72,197	64,868	(8,421)	128,644
Balance at beginning (in shares) at Jun. 30, 2020	22,715
Common stock issued upon exercise of options and warrants (in shares)	13
Repurchase of common stock (in shares)	(219)
Balance at end (in shares) at Sep. 30, 2020	22,509
Balance at beginning at Jun. 30, 2020	$ 72,402	61,100	(8,421)	0
Common stock issued upon exercise of options and warrants	18
Repurchase of common stock	(762)
Cumulative change in accounting principle		0
Balance, beginning of period (as adjusted for change in accounting principle)		61,100
Pension benefit obligation			0	0
Stock-based compensation	539
Net Income		3,768		3,768
Balance at end at Sep. 30, 2020	$ 72,197	$ 64,868	$ (8,421)	$ 128,644