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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Shares outstanding     18,926,810  
Common stock options exercised, shares     8,400  
Issuance of shares for Employee Stock Purchase Plan, shares 46,935 8,564 46,935 18,740
Shares outstanding 18,905,135   18,905,135  
Common Stock [Member]        
Shares outstanding 18,852,523 19,445,363 18,926,810 19,337,662
Restricted stock units issued, shares 7,606 1,779 157,690 131,141
Restricted stock units/awards repurchased on vesting to pay taxes, shares (2,580) (614) (39,686) (35,949)
Cash dividends declared on common stock, per share $ 0.05 $ 0.05 $ 0.10 $ 0.10
Share repurchase, share     (220,222)  
Common stock options exercised, shares 2,800 1,220 8,400 1,520
Common stock options exercised, used to exercise, shares 2,149   2,149  
Common stock options exercised, net of shares used to exercise, shares 651   6,251  
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 46,935 8,564 46,935 18,740
Issuance of common stock for acquisition, shares     20,826 307
Shares outstanding 18,905,135 19,456,312 18,905,135 19,456,312