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CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY - USD ($) $ in Thousands | Common Stock | Retained Earnings | Accumulated Other Comprehensive Loss | Total
--- | --- | --- | --- | ---
Balance at beginning at Dec. 31, 2015 | $ 81,337 | $ 86,472 | $ (6,650) | $ 161,159
Balance at beginning (in shares) at Dec. 31, 2015 | 25,617 |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Common stock issued upon exercise of options and warrants | $ 706 |  |  | 706
Common stock issued upon exercise of options and warrants (in shares) | 448 |  |  |
Repurchase of common stock | $ (10,468) |  |  | (10,468)
Repurchase of common stock (in shares) | (2,478) |  |  |
Pension benefit obligation |  |  | (32) | (32)
Stock-based compensation | 5,553 |  |  | 5,553
Net income |  | 29,300 |  | 29,300
Balance at end at Dec. 31, 2016 | $ 77,128 | 115,772 | (6,682) | 186,218
Balance at end (in shares) at Dec. 31, 2016 | 23,587 |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Common stock issued upon exercise of options and warrants | $ 1,085 |  |  | 1,085
Common stock issued upon exercise of options and warrants (in shares) | 647 |  |  |
Repurchase of common stock | $ (12,346) |  |  | (12,346)
Repurchase of common stock (in shares) | (2,745) |  |  |
Pension benefit obligation |  |  | (500) | (500)
Stock-based compensation | 5,715 |  |  | 5,715
Net income |  | 3,765 |  | 3,765
Balance at end at Dec. 31, 2017 | $ 71,582 | 119,537 | (7,182) | 183,937
Balance at end (in shares) at Dec. 31, 2017 | 21,489 |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Common stock issued upon exercise of options and warrants | $ 483 |  |  | 483
Common stock issued upon exercise of options and warrants (in shares) | 2,315 |  |  |
Repurchase of common stock | $ (5,307) |  |  | (5,307)
Repurchase of common stock (in shares) | (1,382) |  |  |
Pension benefit obligation |  |  | (372) | (372)
Stock-based compensation | 3,515 |  |  | 3,515
Net income |  | 14,862 |  | 14,862
Balance at end at Dec. 31, 2018 | $ 70,273 | $ 134,399 | $ (7,554) | $ 197,118
Balance at end (in shares) at Dec. 31, 2018 | 22,422 |  |  |

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