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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