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Quarterly Results (unaudited) (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Quarterly Financial Information Disclosure [Abstract]                      
Revenue $ 58,132 $ 55,173 $ 54,336 $ 53,134 $ 53,602 $ 51,814 $ 51,551 $ 49,895 $ 220,775 $ 206,862 $ 192,683
Operating (loss) income 1,614 470 (1,867) (1,364) (550) 681 915 (1,765) (1,147) (719) (2,969)
Income from continuing operations 1,600 1,412 (536) 150 (896) 1,168 1,509 607 2,626 2,388 2,077
Income from discontinued operations, net of tax 47,675 33,509 29,784 13,129 15,439 13,186 11,640 13,303 124,097 53,568 44,518
Net income $ 49,275 $ 34,921 $ 29,248 $ 13,279 $ 14,543 $ 14,354 $ 13,149 $ 13,910 $ 126,723 $ 55,956 $ 46,595
Basic - Income from continuing operations (in dollars per share) $ 0.03 $ 0.03 $ (0.01) $ 0 $ (0.01) $ 0.02 $ 0.03 $ 0.01 $ 0.05 $ 0.05 $ 0.04
Basic - Income from discontinued operations, net of tax (in dollars per share) 0.96 0.67 0.59 0.27 0.30 0.27 0.23 0.27 2.49 1.07 0.90
Net income per share - basic (in dollars per share) 0.99 0.70 0.58 0.27 0.29 0.29 0.26 0.28 2.54 1.12 0.94
Diluted - Income from continuing operations (in dollars per share) 0.03 0.03 (0.01) 0 (0.01) 0.02 0.03 0.01 0.05 0.05 0.04
Diluted - Income from discontinued operations, net of tax (in dollars per share) 0.95 0.67 0.59 0.27 0.30 0.27 0.23 0.27 2.48 1.07 0.89
Net income per share - diluted (in dollars per share) $ 0.98 $ 0.70 $ 0.58 $ 0.27 $ 0.29 $ 0.29 $ 0.26 $ 0.28 $ 2.53 $ 1.12 $ 0.93