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Consolidated Statement of Shareholders' Equity - USD ($) shares in Thousands, $ in Thousands | Total | Cumulative Effect, Period of Adoption, Adjustment [Member] | Common Stock [Member] | Additional Paid-in Capital [Member] | Retained Earnings [Member] | Retained Earnings [Member] Cumulative Effect, Period of Adoption, Adjustment [Member] | Treasury Stock [Member] | Accumulated Other Comprehensive Income (Loss) [Member] | Accumulated Other Comprehensive Income (Loss) [Member] Cumulative Effect, Period of Adoption, Adjustment [Member]
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Beginning Balance at Dec. 31, 2017 | $ 141,189 |  | $ 224 | $ 181,910 | $ 123,010 |  | $ (161,943) | $ (2,012) |
Beginning Balance (ASU No. 2014-09 [Member]) at Dec. 31, 2017 |  | $ 3,803 |  |  |  | $ 3,829 |  |  | $ (26)
Beginning Balance, Shares at Dec. 31, 2017 |  |  | 22,432 |  |  |  | 4,391 |  |
Issuance of common stock under stock plans, including tax effects | 10,492 |  | $ 6 | 10,486 |  |  |  |  |
Issuance of common stock under stock plans, including tax effects, Shares |  |  | 519 |  |  |  |  |  |
Stock-based compensation expense | 8,300 |  |  | 8,300 |  |  |  |  |
Repurchases of common stock | (9,946) |  |  |  |  |  | $ (9,946) |  |
Repurchase of common stock, Shares |  |  |  |  |  |  | 240 |  |
Dividends paid on common shares | (14,502) |  |  |  | (14,502) |  |  |  |
Net income (loss) | 15,380 |  |  |  | 15,380 |  |  |  |
Net change in marketable investments, net of tax | 141 |  |  |  |  |  |  | 141 |
Foreign currency translation | (3,257) |  |  |  |  |  |  | (3,257) |
Ending Balance at Dec. 31, 2018 | 151,600 |  | $ 230 | 200,696 | 127,717 |  | $ (171,889) | (5,154) |
Ending Balance, Shares at Dec. 31, 2018 |  |  | 22,951 |  |  |  | 4,631 |  |
Issuance of common stock under stock plans, including tax effects | 4,077 |  | $ 3 | 4,074 |  |  |  |  |
Issuance of common stock under stock plans, including tax effects, Shares |  |  | 324 |  |  |  |  |  |
Stock-based compensation expense | 11,684 |  |  | 11,684 |  |  |  |  |
Net income (loss) | (9,570) |  |  |  | (9,570) |  |  |  |
Net change in interest rate swap, net of tax | (104) |  |  |  |  |  |  | (104) |
Foreign currency translation | 401 |  |  |  |  |  |  | 401 |
Ending Balance at Dec. 31, 2019 | 158,088 |  | $ 233 | 216,454 | 118,147 |  | $ (171,889) | (4,857) |
Ending Balance, Shares at Dec. 31, 2019 |  |  | 23,275 |  |  |  | 4,631 |  |
Issuance of common stock under stock plans, including tax effects | 2,800 |  | $ 3 | 2,797 |  |  |  |  |
Issuance of common stock under stock plans, including tax effects, Shares |  |  | 373 |  |  |  |  |  |
Stock-based compensation expense | 10,877 |  |  | 10,877 |  |  |  |  |
Net income (loss) | 9,990 |  |  |  | 9,990 |  |  |  |
Net change in interest rate swap, net of tax | (717) |  |  |  |  |  |  | (717) |
Foreign currency translation | 4,884 |  |  |  |  |  |  | 4,884 |
Ending Balance at Dec. 31, 2020 | $ 185,766 |  | $ 236 | $ 230,128 | $ 127,981 |  | $ (171,889) | $ (690) |
Ending Balance (ASU No. 2016-13 [Member]) at Dec. 31, 2020 |  | $ (156) |  |  |  | $ (156) |  |  |
Ending Balance, Shares at Dec. 31, 2020 |  |  | 23,648 |  |  |  | 4,631 |  |

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