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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, 2020     17,995,000          
Beginning 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   62,000          
Issuance of common stock from employee stock purchase plan $ 1,630   $ 1   1,629      
Issuance of common stock (in shares)       15,000        
Issuance of common stock   $ 642       $ 642    
Issuance of restricted common stock (in shares)     9,000          
Exercise of stock options (in shares) 423,294   169,000          
Exercise of stock options $ (1,257)   $ 2   (1,259)      
Cancellation and retirement of restricted common stock (in 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)      
Convertible notes conversions $ (1,424)   $ 0   (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 (in shares)       12,000        
Issuance of common stock   435       435    
Exercise of stock options (in shares) 32,196   10,000          
Exercise of stock options $ (63)   $ 0   (63)      
Cancellation and retirement of restricted common stock (in 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 shares)     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)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Net income (loss) $ 33,413           33,413  
Issuance of common stock from employee stock purchase plan (in shares) 63,372   63,000          
Issuance of common stock from employee stock purchase plan $ 1,494   $ 0   1,494      
Issuance of common stock (in shares)       16,000        
Issuance of common stock   $ 451       $ 451    
Issuance of common stock to former executive (in shares)     30,000          
Issuance of common stock to former executive 826       826      
Issuance of restricted common stock (in shares)     142,000          
Issuance of restricted common stock $ 0   $ 2   (2)      
Exercise of stock options (in shares) 74,200   12,000          
Exercise of stock options $ (174)   $ 0   (174)      
Cancellation and retirement of restricted common stock (in shares)     (3,000)          
Cancellation and retirement of restricted common stock (78)       (78)      
Stock-based compensation expense 6,426       6,426      
Dividends on common stock $ (6,708)       (6,708)      
Treasury stock acquired, shares 0              
Other (in shares)     8,000          
Other $ 276       276      
Ending balance, shares outstanding at Dec. 31, 2023     15,000,000          
Ending balance at Dec. 31, 2023 $ 173,060   $ 266   $ 241,291   $ 210,256 $ (278,753)