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Stockholders' Equity and Stock Plans - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 12 Months Ended |
--- | --- | --- | --- | ---
Jan. 20, 2023 | Jul. 01, 2017 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | May 12, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Total compensation cost for share-based payment arrangements |  |  | $ 962 | $ 972 | $ 1,200 |
Share-based compensation income tax benefit recognized |  |  | 257 | 213 | 341 |
Unrecognized compensation expense |  |  | $ 1,400 |  |  |
Period for recognizing unrecognized compensation expense |  |  | 2 years 1 month 6 days |  |  |
Excess tax benefits recorded as a reduction to income tax expense |  |  | $ 3 | 87 | 120 |
Subsequent event |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Dividends declared per common share (usd per share) | $ 0.25 |  |  |  |  |
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 |  |  | $ 356 | 514 | 484 |
Performance shares |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period |  |  | 3 years |  |  |
Restricted stock award |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Total grant-date fair value of option shares vested |  |  | $ 431 | $ 1,000 | $ 1,200 |
During 2016 | Stock options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period |  |  | 3 years |  |  |
Expiration period of grants |  |  | 10 years |  |  |
Subsequent To January 1, 2015 | Stock options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting percentage |  |  | 33.33% |  |  |
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) |  |  | 228,004 |  |  |
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) |  |  | 375,450 |  |  |
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) |  |  | 819,487 |  |  |
Common Stock | The Plan, 2020 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares awarded in period from plan (in shares) |  |  | 10,145 |  |  |
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) |  |  |  | 6,443 | 5,723 |

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