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CONSOLIDATED STATEMENTS OF SHAREHOLDERS’ EQUITY - USD ($) $ in Thousands | Total | Common Stock Common Stock | Common Stock Convertible Class B Stock | Additional Paid in Capital | Accumulated Comprehensive Loss | Retained Earnings | Treasury Stock
--- | --- | --- | --- | --- | --- | --- | ---
Beginning of Year at Dec. 31, 2020 |  | $ 278 | $ 69 | $ 82,187 | $ (16,450) | $ 312,803 | $ (108,516)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Net Exercise of Stock Options, including ESPP |  | 5 |  |  |  |  |
Net Issuance of Common Stock for Restricted Stock Units (“RSUs”) |  | 1 |  |  |  |  |
Class B Stock Converted to Common Stock |  | 5 | (5) |  |  |  |
Net Exercise of Stock Options, including ESPP, and Equity-based Compensation Expense |  |  |  | 10,029 |  |  |
Tax Withholding Related to Issuance of RSUs |  |  |  | (179) |  |  |
Foreign Currency Translation Adjustments | $ (939) |  |  |  | (939) |  |
Retirement Liability Adjustment – Net of Taxes |  |  |  |  | 2,894 |  |
Net Loss | (25,578) |  |  |  |  | (25,578) |
End of Year at Dec. 31, 2021 | 256,604 | $ 289 | $ 64 | 92,037 | (14,495) | 287,225 | $ (108,516)
Beginning of year (in shares) at Dec. 31, 2020 |  | 27,825,000 | 6,877,000 |  |  |  |
Treasury stock, Beginning of year (in shares) at Dec. 31, 2020 |  |  |  |  |  |  | 3,808,000
Increase (Decrease) in Stockholders' Equity (in shares) |  |  |  |  |  |  |
Net Issuance from Exercise of Stock Options, including ESPP (in shares) |  | 485,000 | 25,000 |  |  |  |
Net Issuance of Common Stock for RSU’s (in shares) |  | 70,000 | 4,000 |  |  |  |
Class B Stock Converted to Common Stock (in shares) |  | 531,000 | (531,000) |  |  |  |
End of year (in shares) at Dec. 31, 2021 |  | 28,911,000 | 6,375,000 |  |  |  |
Treasury stock, End of year (in shares) at Dec. 31, 2021 |  |  |  |  |  |  | 3,808,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Net Issuance of Common Stock for Restricted Stock Units (“RSUs”) |  | $ 1 |  |  |  |  |
Class B Stock Converted to Common Stock |  | 1 | $ (1) |  |  |  |
Net Exercise of Stock Options, including ESPP, and Equity-based Compensation Expense |  |  |  | 6,897 |  |  |
Tax Withholding Related to Issuance of RSUs |  |  |  | (304) |  |  |
Foreign Currency Translation Adjustments | (1,928) |  |  |  | (1,928) |  |
Retirement Liability Adjustment – Net of Taxes |  |  |  |  | 6,897 |  |
Net Loss | (35,747) |  |  |  |  | (35,747) |
Shares Issued to Fund 401K Obligation |  |  |  |  |  | (11,118) | $ 18,618
End of Year at Dec. 31, 2022 | $ 239,920 | $ 291 | $ 63 | 98,630 | (9,526) | 240,360 | $ (89,898)
Increase (Decrease) in Stockholders' Equity (in shares) |  |  |  |  |  |  |
Net Issuance from Exercise of Stock Options, including ESPP (in shares) |  | 20,000 | 24,000 |  |  |  |
Net Issuance of Common Stock for RSU’s (in shares) |  | 106,000 |  |  |  |  |
Class B Stock Converted to Common Stock (in shares) |  | 85,000 | (85,000) |  |  |  |
Shares Issued to Fund 401K Obligation (in shares) |  |  |  |  |  |  | (653,000)
End of year (in shares) at Dec. 31, 2022 |  | 29,122,000 | 6,314,000 |  |  |  |
Treasury stock, End of year (in shares) at Dec. 31, 2022 | 3,154,691 |  |  |  |  |  | 3,155,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Issuance of Common Stock Through At-the-Market Offering |  | $ 14 |  | 21,246 |  |  |
Net Exercise of Stock Options, including ESPP |  | 4 |  |  |  |  |
Net Issuance of Common Stock for Restricted Stock Units (“RSUs”) |  | 1 |  |  |  |  |
Class B Stock Converted to Common Stock |  | 4 | $ (4) |  |  |  |
Net Exercise of Stock Options, including ESPP, and Equity-based Compensation Expense |  |  |  | 10,309 |  |  |
Tax Withholding Related to Issuance of RSUs |  |  |  | (641) |  |  |
Foreign Currency Translation Adjustments | $ 984 |  |  |  | 984 |  |
Retirement Liability Adjustment – Net of Taxes |  |  |  |  | (884) |  |
Net Loss | (26,421) |  |  |  |  | (26,421) |
Shares Issued to Fund 401K Obligation |  |  |  |  |  | (4,186) | $ 9,172
End of Year at Dec. 31, 2023 | $ 249,518 | $ 314 | $ 59 | $ 129,544 | $ (9,426) | $ 209,753 | $ (80,726)
Increase (Decrease) in Stockholders' Equity (in shares) |  |  |  |  |  |  |
Issuance of Common Stock Through ATM Offering (in shares) |  | 1,334,000 |  |  |  |  |
Net Issuance from Exercise of Stock Options, including ESPP (in shares) | 6,570 | 437,000 |  |  |  |  |
Net Issuance of Common Stock for RSU’s (in shares) |  | 147,000 |  |  |  |  |
Class B Stock Converted to Common Stock (in shares) |  | 362,000 | (362,000) |  |  |  |
Shares Issued to Fund 401K Obligation (in shares) |  |  |  |  |  |  | (322,000)
End of year (in shares) at Dec. 31, 2023 |  | 31,402,000 | 5,952,000 |  |  |  |
Treasury stock, End of year (in shares) at Dec. 31, 2023 | 2,832,825 |  |  |  |  |  | 2,833,000

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