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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Shares outstanding 18,926,810  
Common stock options exercised, shares 5,600  
Issuance of shares for Employee Stock Purchase Plan, shares 0 10,176
Shares outstanding 18,852,523  
Common Stock [Member]    
Shares outstanding 18,926,810 19,337,662
Restricted stock units issued, shares 150,084 129,362
Restricted stock units/awards repurchased on vesting to pay taxes, shares (37,106) (35,335)
Cash dividends declared on common stock, per share $ 0.05 $ 0.05
Share repurchase, share (220,222)  
Common stock options exercised, shares 5,600 300
Exercise of warrants, shares 20,000 7,109
Exercise of warrants, used to exercise, shares 13,469 4,218
Exercise of warrants, net of shares used to exercise, shares 6,531 2,891
Issuance of shares for Employee Stock Purchase Plan, shares   10,176
Issuance of common stock for acquisition, shares 20,826 307
Shares outstanding 18,852,523 19,445,363