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CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY - USD ($)
$ in Thousands
Total
Director
Common Stock
Common Stock
Director
Additional Paid-in Capital
Additional Paid-in Capital
Director
Accumulated Deficit
Treasury Stock
Beginning balance, shares outstanding at Dec. 31, 2019     17,855,000          
Beginning Balance at Dec. 31, 2019 $ 226,569   $ 259   $ 242,147   $ 86,213 $ (102,050)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Net Income (Loss) $ 16,090           16,090  
Issuance of common stock from employee stock purchase plan (in shares) 71,908              
Issuance of common stock, shares     72,000 31,000        
Issuance of common stock $ 1,202 $ 653 $ 1   1,201 $ 653    
Exercise of stock options, shares 40,365   20,000          
Exercise of stock options $ (70)   $ 0   (70)      
Issuance of restricted common stock, shares     10,000          
Cancellation and retirement of restricted common stock, shares     (11,000)          
Cancellation and retirement of restricted common stock (250)       (250)      
Stock-based compensation expense 2,717       2,717      
Dividends on common stock (6,048)       (6,048)      
Stock Issued During Period, Value, Conversion of Convertible Securities $ (828)   $ 0   (828)      
Treasury stock acquired, shares 0              
Other (in share)     18,000          
Other $ 467       467      
Ending balance, shares outstanding at Dec. 31, 2020     17,995,000          
Ending Balance at Dec. 31, 2020 240,502   $ 260   239,989   102,303 (102,050)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Net Income (Loss) $ 33,159           33,159  
Issuance of common stock from employee stock purchase plan (in shares) 61,904              
Issuance of common stock, shares     62,000 15,000        
Issuance of common stock $ 1,630 642 $ 1   1,629 642    
Exercise of stock options, shares 423,294   169,000          
Exercise of stock options $ (1,257)   $ 2   (1,259)      
Issuance of restricted common stock, shares     9,000          
Cancellation and retirement of restricted common stock, shares     (11,000)          
Cancellation and retirement of restricted common stock (375)       (375)      
Stock-based compensation expense 4,871       4,871      
Dividends on common stock (7,264)       (7,264)      
Stock Issued During Period, Value, Conversion of Convertible Securities $ (1,424)       (1,424)      
Treasury stock acquired, shares (2,906,983)   (2,907,000)          
Treasury stock acquired $ (142,469)             (142,469)
Ending balance, shares outstanding at Dec. 31, 2021     15,332,000          
Ending Balance at Dec. 31, 2021 128,015   $ 263   236,809   135,462 (244,519)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Net Income (Loss) $ 41,381           41,381  
Issuance of common stock from employee stock purchase plan (in shares) 52,053   52,000          
Issuance of common stock from employee stock purchase plan $ 1,686   $ 1   1,685      
Issuance of common stock, shares       12,000        
Issuance of common stock   $ 435       $ 435    
Exercise of stock options, shares 32,196   10,000          
Exercise of stock options $ (63)   $ 0   (63)      
Cancellation and retirement of restricted common stock, shares     (6,000)          
Cancellation and retirement of restricted common stock (205)       (205)      
Stock-based compensation expense 5,524       5,524      
Dividends on common stock $ (6,763)       (6,763)      
Treasury stock acquired, shares (695,496)   (695,000)          
Treasury stock acquired $ (34,234)             (34,234)
Other (in share)     27,000          
Other 1,358       1,358      
Ending balance, shares outstanding at Dec. 31, 2022     14,732,000          
Ending Balance at Dec. 31, 2022 $ 137,134   $ 264   $ 238,780   $ 176,843 $ (278,753)