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Stockholders' Equity and Stock Plans - Narrative (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Jan. 22, 2021
$ / shares
Nov. 27, 2018
Jul. 01, 2017
Mar. 31, 2018
USD ($)
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
USD ($)
shares
May 12, 2020
shares
Jan. 24, 2020
USD ($)
Apr. 23, 2018
USD ($)
Jul. 06, 2017
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Stock split ratio   2                  
Total compensation cost for share-based payment arrangements | $         $ 1,200 $ 1,500 $ 1,700        
Share-based compensation income tax benefit recognized | $         341 389 404        
Unrecognized compensation expense | $         $ 652            
Period for recognizing unrecognized compensation expense         1 year 8 months 12 days            
Excess tax benefits recorded as a reduction to income tax expense | $         $ 120 $ 145 484        
Percentage of share ownership defining an acquiring person                     10.00%
Preferred stock, authorized (in shares)         5,000,000 5,000,000          
Preferred stock, no par value (in dollars per share) | $ / shares         $ 0 $ 0          
Stock repurchase program, authorized amount | $                 $ 25,000 $ 25,000  
Subsequent event                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Dividends declared per common share (usd per share) | $ / shares $ 0.23                    
Restricted stock award                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Total grant-date fair value of option shares vested | $         $ 1,200 $ 1,200 967        
Stock options                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Expiration period of grants         10 years            
Total grant-date fair value of option shares vested | $         $ 484 $ 473 $ 543        
Stock options | During 2016                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting period         3 years            
Expiration period of grants         10 years            
Stock options | Subsequent To January 1, 2015                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage         33.33%            
Performance shares                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting period         3 years            
Minimum | Performance shares                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage         0.00%            
Maximum | Performance shares                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting percentage         200.00%            
The Plan, 2020                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Shares approved to be issued in common stock (in shares)               250,000      
Number of shares available for future grants under plan (in shares)         246,141            
Director Stock Plan, 2010                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Shares approved to be issued in common stock (in shares)               205,253      
Employee Stock Purchase Plan, 2007                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares available for future grants under plan (in shares)         380,123            
Discount from closing market price at end of each quarter     5.00%                
Employee Stock Purchase Plan, 2007 | Minimum                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Approved payroll deduction to purchase shares, percentage     1.00%                
Employee Stock Purchase Plan, 2007 | Maximum                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Approved payroll deduction to purchase shares, percentage     15.00%                
The 2017 Equity Plan                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares available for future grants under plan (in shares)         940,918            
Common Stock | The Plan, 2020                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Shares awarded in period from plan (in shares)         5,723            
Common Stock | Director Stock Plan, 2010                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Shares awarded in period from plan (in shares)           5,544 5,470        
Series A Junior Participating Preferred Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Preferred stock, authorized (in shares)         1,000,000            
Preferred stock, no par value (in dollars per share) | $ / shares         $ 0            
Retained Earnings                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Amount reclassified from AOCI to retained earnings representing stranded tax income effects | $       $ 638     $ 638        
Series A Junior Participating Preferred Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Exercise price of rights (in dollars per share) | $ / shares                     $ 0.9
Number of securities called by each right (in shares)                     0.005