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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Shares outstanding 18,974,703  
Common stock options exercised, shares 820  
Issuance of shares for Employee Stock Purchase Plan, shares 8,425 0
Shares outstanding 19,034,870  
Common Stock [Member]    
Shares outstanding 18,974,703 18,926,810
Restricted stock units issued, shares 267,148 150,084
Restricted stock units/awards repurchased on vesting to pay taxes, shares (64,653) (37,106)
Cash dividends declared on common stock, per share $ 0.05 $ 0.05
Share repurchase, share (158,033) (220,222)
Common stock options exercised, shares 820 5,600
Common stock options exercised, used to exercise, shares 62  
Common stock options exercised, net of shares used to exercise, shares 758  
Exercise of warrants, shares 20,000 20,000
Exercise of warrants, used to exercise, shares 13,478 13,469
Exercise of warrants, net of shares used to exercise, shares 6,522 6,531
Issuance of shares for Employee Stock Purchase Plan, shares 8,425  
Issuance of common stock for acquisition, shares   20,826
Shares outstanding 19,034,870 18,852,523