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Stockholders' Equity and Stock Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Jan. 22, 2022
Jul. 01, 2017
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
May 12, 2020
Jul. 06, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Total compensation cost for share-based payment arrangements     $ 972 $ 1,200 $ 1,500    
Share-based compensation income tax benefit recognized     213 341 389    
Unrecognized compensation expense     $ 652        
Period for recognizing unrecognized compensation expense     2 years 3 months 18 days        
Excess tax benefits recorded as a reduction to income tax expense     $ 87 $ 120 145    
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)     $ 0 $ 0      
Subsequent event              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Dividends declared per common share (usd per share) $ 0.24            
Restricted stock award              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Total grant-date fair value of option shares vested     $ 1,000 $ 1,200 1,200    
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     $ 514 $ 484 $ 473    
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)     238,664        
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)     377,475        
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)     868,222        
Common Stock | The Plan, 2020              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares awarded in period from plan (in shares)     6,443        
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)       5,723 5,544    
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)     $ 0        
Series A Junior Participating Preferred Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of securities called by each right (in shares)             0.005
Exercise price of rights (in dollars per share)             $ 0.9