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Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Equity                
Balance at beginning     $ 223,905       $ 223,905  
Net earnings $ 9,337     $ 10,770     21,646 $ 19,318
Foreign currency translation adjustments (773)     (1,684)     (817) (2,398)
Pension liability adjustment, net of tax             275 486
Balance at ending 235,383           235,383  
Common stock                
Equity                
Balance at beginning 9,529 $ 9,523 9,584 9,620 $ 9,634 $ 9,709 9,584 9,709
Net earnings 0 0 0 0 0 0    
Foreign currency translation adjustments 0 0 0 0 0 0    
Pension liability adjustment, net of tax 0 0 0 0 0 0    
Cash dividends declared 0 0 0 0 0 0    
Stock options exercised, net of shares withheld for employee taxes and strike price 6 29 1 3 15 0    
Issuance of restricted stock 28     28        
Restricted stock forfeited (2)              
Share-based compensation expense 0 0 0 0 0 0    
Shares purchased and retired (50) (23) (62) (30) (29) (75)    
Balance at ending 9,511 9,529 9,523 9,621 9,620 9,634 9,511 9,621
Capital in excess of par value                
Equity                
Balance at beginning 70,971 70,828 70,475 69,737 69,076 68,718 70,475 68,718
Net earnings 0 0 0 0 0 0    
Foreign currency translation adjustments 0 0 0 0 0 0    
Pension liability adjustment, net of tax 0 0 0 0 0 0    
Cash dividends declared 0 0 0 0 0 0    
Stock options exercised, net of shares withheld for employee taxes and strike price 3 (194) 15 45 193 8    
Issuance of restricted stock (28)     (28)        
Restricted stock forfeited 2              
Share-based compensation expense 321 337 338 339 468 350    
Shares purchased and retired 0 0 0 0 0 0    
Balance at ending 71,269 70,971 70,828 70,093 69,737 69,076 71,269 70,093
Reinvested earnings                
Equity                
Balance at beginning 169,633 167,717 164,039 149,264 147,777 147,762 164,039 147,762
Net earnings 9,337 4,864 7,445 10,770 4,495 4,053    
Foreign currency translation adjustments 0 0 0 0 0 0    
Pension liability adjustment, net of tax 0 0 0 0 0 0    
Cash dividends declared (2,377) (2,377) (2,289) (2,310) (2,307) (2,316)    
Stock options exercised, net of shares withheld for employee taxes and strike price 0 0 0 0 0 0    
Issuance of restricted stock 0     0        
Restricted stock forfeited 0              
Share-based compensation expense 0 0 0 0 0 0    
Shares purchased and retired (1,255) (571) (1,478) (707) (701) (1,722)    
Balance at ending 175,338 169,633 167,717 157,017 149,264 147,777 175,338 157,017
Accumulated other comprehensive loss                
Equity                
Balance at beginning (20,054) (20,400) (20,193) (25,184) (24,119) (24,794) (20,193) (24,794)
Net earnings       0 0 0    
Foreign currency translation adjustments (773) 262 (306) (1,684) (1,235) 521    
Pension liability adjustment, net of tax 92 84 (99) 162 170 (154)    
Cash dividends declared       0 0 0    
Stock options exercised, net of shares withheld for employee taxes and strike price       0 0 0    
Issuance of restricted stock       0        
Share-based compensation expense       0 0 0    
Shares purchased and retired       0 0 0    
Balance at ending $ (20,735) $ (20,054) $ (20,400) $ (26,706) $ (25,184) $ (24,119) $ (20,735) $ (26,706)