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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Shares outstanding 17,813,451  
Common stock options exercised, shares 300  
Issuance of shares for Employee Stock Purchase Plan, shares 7,533 6,808
Shares outstanding 18,014,757  
Common Stock [Member]    
Shares outstanding 17,813,451 18,393,888
Restricted stock units issued, shares 352,634 306,684
Restricted stock units/awards repurchased on vesting to pay taxes, shares (76,147) (67,999)
Cash dividends declared on common stock, per share $ 0.05 $ 0.05
Share repurchase, share (83,014) (299,878)
Common stock options exercised, shares 300 9,260
Exercise of warrants, shares   49,860
Exercise of warrants, used to exercise, shares   28,311
Exercise of warrants, net of shares used to exercise, shares   21,549
Issuance of shares for Employee Stock Purchase Plan, shares 7,533 6,808
Shares outstanding 18,014,757 18,370,312