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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