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CONDENSED CONSOLIDATED STATEMENTS OF EARNINGS - UNAUDITED - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Income Statement [Abstract]        
Net sales $ 145,182 $ 144,982 $ 291,176 $ 292,677
Cost of goods sold 94,440 93,134 188,782 186,489
Gross margin 50,742 51,848 102,394 106,188
Selling, general and administrative expenses 23,694 22,238 45,673 44,026
Research and development expenses 6,721 6,294 13,307 12,488
Restructuring charges 1,895 630 2,807 942
Operating earnings 18,432 22,686 40,607 48,732
Other income (expense):        
Interest expense (818) (602) (1,512) (1,148)
Interest income 1,072 263 2,135 443
Other income, net (2,606) (5,425) (2,441) (5,359)
Total other expense, net (2,352) (5,764) (1,818) (6,064)
Earnings before income taxes 16,080 16,922 38,789 42,668
Income tax expense 3,183 4,324 7,548 9,831
Net earnings $ 12,897 $ 12,598 $ 31,241 $ 32,837
Earnings per share:        
Basic $ 0.41 $ 0.39 $ 0.99 $ 1.02
Diluted $ 0.41 $ 0.39 $ 0.98 $ 1.02
Basic weighted – average common shares outstanding: 31,488 32,039 31,560 32,096
Effect of dilutive securities 197 204 224 218
Diluted weighted – average common shares outstanding: 31,685 32,243 31,784 32,314
Cash dividends declared per share $ 0.04 $ 0.04 $ 0.08 $ 0.08