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Condensed Consolidated Statements of Redeemable Preferred Stock and Shareholders' Equity - USD ($)
$ in Thousands
Total
Redeemable Preferred Stock
Common Stock
Paid in Capital in Excess of Par
Retained Earnings
Accumulated Other Comprehensive Income (Loss)
Balances, beginning of period (in shares) at Dec. 31, 2019   2,500,000 6,356,000      
Balances, beginning of period at Dec. 31, 2019 $ 350,338 $ 49,638 $ 64 $ 4,557 $ 348,965 $ (3,248)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Net income 12,642       12,642  
Net unrealized gain (loss) from currency translation, net of tax 253         253
Net unrealized gain (loss) from derivative instruments, net of tax expenses $ (2,404)         (2,404)
Shares repurchased (in shares) (55,426)   (56,000)      
Shares repurchased $ (1,510)   $ 0 (1,510)    
Shares issued under stock compensation plans (in shares)     319,000      
Shares issued under stock compensation plans 428   $ 3 425    
Cancellation of restricted stock in satisfaction of withholding tax (in shares)     (60,000)      
Cancellation of restricted stock in satisfaction of withholding tax (1,194)   $ (1) (1,193)    
Stock-based compensation expense, net of forfeitures 8,245     8,245    
Accretion of preferred shares issuance costs (63) $ 63     (63)  
Preferred stock dividends (2,440)       (2,440)  
Balances, end of period (in shares) at Sep. 30, 2020   2,500,000 6,559,000      
Balances, end of period at Sep. 30, 2020 364,295 $ 49,701 $ 66 10,524 359,104 (5,399)
Balances, beginning of period (in shares) at Jun. 30, 2020   2,500,000 6,552,000      
Balances, beginning of period at Jun. 30, 2020 357,868 $ 49,680 $ 66 7,203 356,960 (6,361)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Net income 2,984       2,984  
Net unrealized gain (loss) from currency translation, net of tax 429         429
Net unrealized gain (loss) from derivative instruments, net of tax expenses 533         533
Shares repurchased (in shares)     (1,000)      
Shares repurchased (20)   $ 0 (20)    
Shares issued under stock compensation plans (in shares)     8,000      
Shares issued under stock compensation plans 228   $ 0 228    
Stock-based compensation expense, net of forfeitures 3,113     3,113    
Accretion of preferred shares issuance costs (21) $ 21     (21)  
Preferred stock dividends (819)       (819)  
Balances, end of period (in shares) at Sep. 30, 2020   2,500,000 6,559,000      
Balances, end of period at Sep. 30, 2020 364,295 $ 49,701 $ 66 10,524 359,104 (5,399)
Balances, beginning of period (in shares) at Dec. 31, 2020   2,500,000 6,570,000      
Balances, beginning of period at Dec. 31, 2020 364,015 $ 49,722 $ 66 13,696 355,370 (5,117)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Net income 1,610       1,610  
Net unrealized gain (loss) from currency translation, net of tax 111         111
Net unrealized gain (loss) from derivative instruments, net of tax expenses $ 5,644         5,644
Shares repurchased (in shares) (135,118)   (135,000)      
Shares repurchased $ (5,138)   $ (1) (5,137)    
Shares issued under stock compensation plans (in shares)     305,000      
Shares issued under stock compensation plans 186   $ 2 184    
Cancellation of restricted stock in satisfaction of withholding tax (in shares)     (116,000)      
Cancellation of restricted stock in satisfaction of withholding tax (4,966)   $ (1) (4,965)    
Stock-based compensation expense, net of forfeitures 11,875     11,875    
Accretion of preferred shares issuance costs (63) $ 63     (63)  
Preferred stock dividends (2,431)       (2,431)  
Balances, end of period (in shares) at Sep. 30, 2021   2,500,000 6,624,000      
Balances, end of period at Sep. 30, 2021 370,843 $ 49,785 $ 66 15,653 354,486 638
Balances, beginning of period (in shares) at Jun. 30, 2021   2,500,000 6,749,000      
Balances, beginning of period at Jun. 30, 2021 368,689 $ 49,764 $ 67 16,196 352,442 (16)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Net income 2,884       2,884  
Net unrealized gain (loss) from currency translation, net of tax (13)         (13)
Net unrealized gain (loss) from derivative instruments, net of tax expenses 667         667
Shares repurchased (in shares)     (135,000)      
Shares repurchased (5,138)   $ (1) (5,137)    
Shares issued under stock compensation plans (in shares)     10,000      
Shares issued under stock compensation plans 17   $ 0 17    
Stock-based compensation expense, net of forfeitures 4,577     4,577    
Accretion of preferred shares issuance costs (21) $ 21     (21)  
Preferred stock dividends (819)       (819)  
Balances, end of period (in shares) at Sep. 30, 2021   2,500,000 6,624,000      
Balances, end of period at Sep. 30, 2021 $ 370,843 $ 49,785 $ 66 $ 15,653 $ 354,486 $ 638