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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Shares outstanding     18,974,703  
Common stock options exercised, shares     2,820  
Issuance of shares for Employee Stock Purchase Plan, shares 6,347 46,935 14,772 46,935
Shares outstanding 18,829,877   18,829,877  
Common Stock [Member]        
Shares outstanding 19,034,870 18,852,523 18,974,703 18,926,810
Restricted stock units issued, shares 21,200 7,606 288,348 157,690
Restricted stock units/awards repurchased on vesting to pay taxes, shares 7,096 2,580 71,749 39,686
Cash dividends declared on common stock, per share $ 0.05 $ 0.05 $ 0.10 $ 0.10
Share repurchase, share 234,722   392,755 220,222
Common stock options exercised, shares 2,000 2,800 2,820 8,400
Common stock options exercised, used to exercise, shares   2,149 62 2,149
Common stock options exercised, net of shares used to exercise, shares   651 2,758 6,251
Exercise of warrants, shares 20,000   40,000 20,000
Exercise of warrants, used to exercise, shares 12,722   26,200 13,469
Exercise of warrants, net of shares used to exercise, shares 7,278   13,800 6,531
Issuance of shares for Employee Stock Purchase Plan, shares 6,347 46,935 14,772 46,935
Issuance of common stock for acquisition, shares       20,826
Shares outstanding 18,829,877 18,905,135 18,829,877 18,905,135