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Schedule II - Valuation and Qualifying Accounts (Tables)
 12 Months Ended
Dec. 31, 2019
Notes Tables  
Summary of Valuation and Qualifying Accounts [Table Text Block]
   
Balance at
Beginning of
Period
    
Charged to
Profit and
Loss
    
Deduction
from
Reserves
    
Balance at
End of
Period
  
Year Ended December 31, 2019:
                                
Allowance for doubtful accounts
   $
660
     $
312
     $
(171
 )   $
801
  
Valuation allowance for deferred income tax assets
    
9,433
      
345
      
(3,652
 )    
6,126
  
                                 
Year Ended December 31, 2018:
                                
Allowance for doubtful accounts
   $
477
     $
449
     $
(266
 )   $
660
  
Valuation allowance for deferred income tax assets
    
10,413
      
1,785
      
(2,765
 )    
9,433
  
                                 
Year Ended December 31, 2017:
                                
Allowance for doubtful accounts
   $
515
     $
637
     $
(675
 )   $
477
  
Valuation allowance for deferred income tax assets
    
8,217
      
2,196
      
-
      
10,413