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CONSOLIDATED STATEMENTS OF SHAREHOLDERS’ EQUITY - USD ($) shares in Thousands, $ in Thousands | Common Stock [Member] | Retained Earnings | Accumulated Other Comprehensive Loss | Total
--- | --- | --- | --- | ---
Balance at beginning at Dec. 31, 2016 | $ 77,128 | $ 115,772 | $ (6,682) | $ 186,218
Balance at beginning (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 |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Common stock issued upon exercise of options and warrants | $ 352 |  |  | 352
Common stock issued upon exercise of options and warrants (in shares) | 488 |  |  |
Repurchase of common stock | $ (1,440) |  |  | (1,440)
Repurchase of common stock (in shares) | (379) |  |  |
Pension benefit obligation |  |  | (867) | (867)
Stock-based compensation | 2,072 |  |  | 2,072
Net income |  | 5,406 |  | 5,406
Balance at end at Dec. 31, 2019 | $ 71,257 | $ 139,805 | $ (8,421) | $ 202,641
Balance at end (in shares) at Dec. 31, 2019 | 22,531 |  |  |

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