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Stockholders' Equity and Stock Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Jan. 25, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2017
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Total compensation cost for share-based payment arrangements   $ 522 $ 962 $ 972    
Share-based compensation income tax benefit recognized   146 257 213    
Unrecognized compensation expense   $ 1,300        
Period for recognizing unrecognized compensation expense   2 years 2 months 12 days        
Excess tax benefits recorded as a reduction to income tax expense   $ 2 3 87    
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]            
Total grant-date fair value of option shares vested   $ 255 356 514    
Stock options | Officers and Employees            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting period   3 years        
Expiration period of grants   10 years        
Stock options | Officers and Employees | Share-Based Payment Arrangement, Tranche One            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting percentage   33.33%        
Stock options | Officers and Employees | Share-Based Payment Arrangement, Tranche Two            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting percentage   33.33%        
Stock options | Officers and Employees | Share-Based Payment Arrangement, Tranche Three            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting percentage   33.33%        
Stock options | Non-Employee Directors            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expiration period of grants   10 years        
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   $ 428 $ 431 $ 1,000    
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)   209,642        
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)   372,923        
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)   790,201        
Common Stock | The Plan, 2020            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares awarded in period from plan (in shares)   18,362 10,145 6,443