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CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Unaudited) - USD ($)
shares in Thousands, $ in Thousands
Common Stock [Member]
Retained Earnings [Member]
AOCI Attributable to Parent [Member]
Total
Balance, beginning of period, Shares at Dec. 31, 2019 22,531      
Common stock issued upon exercise of options and warrants, Shares 256      
Repurchase of common stock, Shares (72)      
Balance, end of period, Shares at Jun. 30, 2020 22,715      
Balance, beginning of period at Dec. 31, 2019 $ 71,257 $ 139,805 $ (8,421)  
Common stock issued upon exercise of options and warrants 452      
Repurchase of common stock (205)      
Cumulative change in accounting principle   (92,469)    
Balance, beginning of period (as adjusted for change in accounting principle)   47,336    
Pension benefit obligation     $ 0
Stock-based compensation 898      
Net income   13,764   13,764
Balance at end at Jun. 30, 2020 $ 72,402 61,100 (8,421) 125,081
Balance, beginning of period, Shares at Mar. 31, 2020 22,559      
Common stock issued upon exercise of options and warrants, Shares 228      
Repurchase of common stock, Shares (72)      
Balance, end of period, Shares at Jun. 30, 2020 22,715      
Balance, beginning of period at Mar. 31, 2020 $ 71,792 58,128 (8,421)  
Common stock issued upon exercise of options and warrants 404      
Repurchase of common stock (205)      
Cumulative change in accounting principle   0    
Balance, beginning of period (as adjusted for change in accounting principle)   58,128    
Pension benefit obligation     0
Stock-based compensation 411      
Net income   2,972   2,972
Balance at end at Jun. 30, 2020 $ 72,402 61,100 (8,421) 125,081
Balance, beginning of period, Shares at Dec. 31, 2020 22,737      
Common stock issued upon exercise of options and warrants, Shares 676      
Repurchase of common stock, Shares (358)      
Balance, end of period, Shares at Jun. 30, 2021 23,055      
Balance, beginning of period at Dec. 31, 2020 $ 72,926 69,007 (8,571) 133,362
Common stock issued upon exercise of options and warrants 1,125      
Repurchase of common stock (1,582)      
Cumulative change in accounting principle      
Balance, beginning of period (as adjusted for change in accounting principle)   69,007    
Pension benefit obligation     0
Stock-based compensation 735      
Net income   14,877   14,877
Balance at end at Jun. 30, 2021 $ 73,204 83,884 (8,571) 148,517
Balance, beginning of period, Shares at Mar. 31, 2021 22,656      
Common stock issued upon exercise of options and warrants, Shares 578      
Repurchase of common stock, Shares (179)      
Balance, end of period, Shares at Jun. 30, 2021 23,055      
Balance, beginning of period at Mar. 31, 2021 $ 72,877 74,171 (8,571)  
Common stock issued upon exercise of options and warrants 827      
Repurchase of common stock (827)      
Cumulative change in accounting principle      
Balance, beginning of period (as adjusted for change in accounting principle)   74,171    
Pension benefit obligation     0
Stock-based compensation 327      
Net income   9,713   9,713
Balance at end at Jun. 30, 2021 $ 73,204 $ 83,884 $ (8,571) $ 148,517