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Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Apr. 05, 2012
Stock options under 2012 Plan          
Stock option details          
Shares available for future grants 8,602   8,602   800,000
Maximum exercisable period for options granted     10 years    
Number of options granted (in shares)     29,500    
Stock option activity          
Options outstanding at the beginning of the period (in shares)     658,588    
Plus: Options granted (in shares)     29,500    
Less:          
Options exercised (in shares)     13,611    
Options forfeited (in shares)     9,451    
Options outstanding at the end of the period (in shares) 665,026   665,026    
Options fully vested and exercisable at the end of the period (in shares) 411,269   411,269    
Stock Options, Weighted average exercise price          
Options outstanding at the beginning, weighted average exercise price (in dollars per share)     $ 27.55    
Plus: Options granted, weighted average exercise price (in dollars per share)     17.57    
Less:          
Options exercised, weighted average exercise price (in dollars per share)     21.15    
Options forfeited, weighted average exercise price (in dollars per share)     30.35    
Options outstanding at the end, weighted average exercise price (in dollars per share) $ 27.20   27.20    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share) $ 22.86   $ 22.86    
Stock Options, Weighted average remaining contractual term (years)          
Options outstanding at the end, weighted average remaining contractual term (years)     5 years 5 months 26 days    
Options fully vested and exercisable at the end, weighted average remaining contractual term (years)     4 years 21 days    
Stock Options, Aggregate intrinsic value          
Options outstanding at the end, aggregate intrinsic value $ 4,591   $ 4,591    
Options fully vested and exercisable at the end, aggregate intrinsic value 3,968   3,968    
Stock-based compensation expense 176 $ 239 395 $ 504  
Stock-based compensation cost, unrecognized, related to non-vested options $ 1,576   $ 1,576    
Stock-based compensation cost, unrecognized, related to non-vested options, weighted-average period of recognition     1 year 9 months 18 days    
Incentive stock options granted to 10% shareholders          
Stock option details          
Maximum exercisable period for options granted     5 years