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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Shares outstanding 18,393,888    
Common stock options exercised, shares 23,640    
Issuance of shares for Employee Stock Purchase Plan, shares 25,023 26,693 56,849
Share repurchase, share (930,977) (894,744)  
Shares outstanding 17,813,451 18,393,888  
Common Stock [Member]      
Shares outstanding 18,393,888 18,974,703 18,926,810
Restricted stock units issued, shares 347,623 301,626 170,575
Restricted stock units/awards repurchased on vesting to pay taxes, shares (80,400) (76,187) (43,935)
Cash dividends declared on common stock, per share $ 0.20 $ 0.20 $ 0.20
Common stock options exercised, shares 23,640 16,640 19,860
Common stock options exercised, used to exercise, shares 1,115 258 2,149
Common stock options exercised, net of shares used to exercise, shares 22,525 16,382 17,711
Issuance of shares for Employee Stock Purchase Plan, shares 25,023 26,693 56,849
Share repurchase, share (930,977) (894,744) (220,222)
Issuance of common stock for acquisition, shares 14,220 23,981 60,384
Exercise of warrants, shares 49,860 60,000 20,000
Exercise of warrants, used to exercise, shares 28,311 38,566 13,469
Exercise of warrants, net of shares used to exercise, shares 21,549 21,434 6,531
Shares outstanding 17,813,451 18,393,888 18,974,703