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Consolidated Statements of Shareholders' Equity - USD ($) $ in Thousands | Total | Common Stock [Member] | Capital in Excess of Par Value [Member] | Accumulated Loss [Member] | Accumulated Other Comprehensive Loss [Member] | Treasury Stock, Common [Member] | Noncontrolling Interest [Member]
--- | --- | --- | --- | --- | --- | --- | ---
Translation loss gain | $ 5,820 |  |  |  |  |  |
Beginning Balance at Dec. 31, 2020 | 203,611 | $ 355 | $ 255,296 | $ (38,141) | $ (14,496) | $ (356) | $ 953
Beginning Balance, Shares at Dec. 31, 2020 |  | 35,505,000 |  |  |  | (138) |
Net income | 1,983 |  |  | 1,426 |  |  | 557
Exercise of stock options | $ 13 |  | 13 |  |  |  |
Exercise of stock options, Shares | 2,000 | 2 |  |  |  |  |
Restricted stock units issued | $ (514) | $ 3 | (517) |  |  |  |
Restricted stock units issued, Shares |  | 263 |  |  |  |  |
Share-based compensation earned | 3,558 |  | 3,558 |  |  |  |
Share-based compensation earned, Shares |  | 39 |  |  |  |  |
Common stock repurchase and retirement, Amount | (5,013) | $ (8) | (5,361) |  |  | $ 356 |
Common stock repurchase and retirement, Shares |  | (781) |  |  |  | 138 |
Adjustment for minimum pension liability, net of tax | 2,964 |  |  |  | 2,964 |  |
Translation loss | (538) |  |  |  | (538) |  |
Noncontrolling interest distribution/acquired | (107) |  |  |  |  |  | (107)
Minimum pension liability adjustment beginning balance at Dec. 31, 2020 | (8,676) |  |  |  |  |  |
Accumulated other comprehensive loss, beginning balance at Dec. 31, 2020 | (14,496) |  |  |  |  |  |
Accumulated other comprehensive loss, activity | 2,426 |  |  |  |  |  |
Minimum pension liability adjustment ending balance at Dec. 31, 2021 | (5,712) |  |  |  |  |  |
Accumulated other comprehensive loss, ending balance at Dec. 31, 2021 | (12,070) |  |  |  |  |  |
Ending Balance at Dec. 31, 2021 | 205,957 | $ 350 | 252,989 | (36,715) | (12,070) |  | 1,403
Ending Balance, Shares at Dec. 31, 2021 |  | 35,028,000 |  |  |  |  |
Translation loss gain | 6,358 |  |  |  |  |  |
Net income | 18,263 |  |  | 17,417 |  |  | 846
Exercise of stock options | $ 377 |  | 377 |  |  |  |
Exercise of stock options, Shares | 42,000 | 43 |  |  |  |  |
Restricted stock units issued | $ (440) | $ 3 | (443) |  |  |  |
Restricted stock units issued, Shares |  | 286 |  |  |  |  |
Share-based compensation earned | 4,262 | $ 1 | 4,261 |  |  |  |
Share-based compensation earned, Shares |  | 57 |  |  |  |  |
Common stock repurchase and retirement, Amount | (7,020) | $ (10) | (7,010) |  |  |  |
Common stock repurchase and retirement, Shares |  | (1,032) |  |  |  |  |
Adjustment for minimum pension liability, net of tax | (291) |  |  |  | (291) |  |
Translation loss | (5,635) |  |  |  | (5,635) |  |
Noncontrolling interest distribution/acquired | (1,425) |  |  |  |  |  | (1,425)
Accumulated other comprehensive loss, activity | (5,926) |  |  |  |  |  |
Minimum pension liability adjustment ending balance at Dec. 31, 2022 | (6,003) |  |  |  |  |  |
Accumulated other comprehensive loss, ending balance at Dec. 31, 2022 | (17,996) |  |  |  |  |  |
Fair value of noncontrolling interest equity issued (see Note 14) | 4,100 |  |  |  |  |  | 4,100
Ending Balance at Dec. 31, 2022 | 218,148 | $ 344 | 250,174 | (19,298) | (17,996) |  | 4,924
Ending Balance, Shares at Dec. 31, 2022 |  | 34,382,000 |  |  |  |  |
Translation loss gain | 11,993 |  |  |  |  |  |
Net income | 14,501 |  |  | 12,911 |  |  | 1,590
Exercise of stock options | $ 1,210 | $ 1 | 1,209 |  |  |  |
Exercise of stock options, Shares | 101,000 | 101 |  |  |  |  |
Restricted stock units issued | $ (1,186) | $ 3 | (1,189) |  |  |  |
Restricted stock units issued, Shares |  | 328 |  |  |  |  |
Share-based compensation earned | 4,762 |  | 4,762 |  |  |  |
Share-based compensation earned, Shares |  | 24 |  |  |  |  |
Adjustment for minimum pension liability, net of tax | 1,225 |  |  |  | 1,225 |  |
Translation loss | 497 |  |  |  | 497 |  |
Noncontrolling interest distribution/acquired | (1,666) |  |  |  |  |  | (1,666)
Accumulated other comprehensive loss, activity | 1,722 |  |  |  |  |  |
Minimum pension liability adjustment ending balance at Dec. 31, 2023 | (4,778) |  |  |  |  |  |
Accumulated other comprehensive loss, ending balance at Dec. 31, 2023 | (16,274) |  |  |  |  |  |
Ending Balance at Dec. 31, 2023 | 237,491 | $ 348 | $ 254,956 | $ (6,387) | $ (16,274) |  | $ 4,848
Ending Balance, Shares at Dec. 31, 2023 |  | 34,835,000 |  |  |  |  |
Translation loss gain | $ 11,496 |  |  |  |  |  |

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