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Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Apr. 05, 2012
Stock options under 2012 Plan          
Stock option details          
Shares available for future grants 27,276   27,276   800,000
Maximum exercisable period for options granted     10 years    
Stock option activity          
Options outstanding at the beginning of the period (in shares)     788,977    
Plus: Options granted (in shares)     16,500    
Less:          
Options exercised (in shares)     87,663    
Options forfeited (in shares)     34,576    
Options outstanding at the end of the period (in shares) 683,238   683,238    
Options fully vested and exercisable at the end of the period (in shares) 322,772   322,772    
Stock Options, Weighted average exercise price          
Options outstanding at the beginning, weighted average exercise price (in dollars per share)     $ 25.91    
Plus: Options granted, weighted average exercise price (in dollars per share)     35.34    
Less:          
Options exercised, weighted average exercise price (in dollars per share)     17.30    
Options forfeited, weighted average exercise price (in dollars per share)     26.95    
Options outstanding at the end, weighted average exercise price (in dollars per share) $ 27.19   27.19    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share) $ 22.08   $ 22.08    
Stock Options, Weighted average remaining contractual term (years)          
Options outstanding at the end, weighted average remaining contractual term (years)     5 years 10 months 9 days    
Options fully vested and exercisable at the end, weighted average remaining contractual term (years)     4 years 7 months 13 days    
Stock Options, Aggregate intrinsic value          
Options outstanding at the end, aggregate intrinsic value $ 7,809   $ 7,809    
Options fully vested and exercisable at the end, aggregate intrinsic value 5,339   5,339    
Stock-based compensation expense 240 $ 285 744 $ 755  
Stock-based compensation cost, unrecognized, related to non-vested options $ 2,158   $ 2,158    
Stock-based compensation cost, unrecognized, related to non-vested options, weighted-average period of recognition     1 year 10 months 24 days    
Incentive stock options granted to 10% shareholders          
Stock option details          
Maximum exercisable period for options granted     5 years