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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) $ in Thousands | Total | Revision of Prior Period, Accounting Standards Update, Adjustment [Member] | Common Stock | Common Stock Revision of Prior Period, Accounting Standards Update, Adjustment [Member] | Additional Paid-in Capital | Additional Paid-in Capital Revision of Prior Period, Accounting Standards Update, Adjustment [Member] | Accumulated Other Comprehensive loss | Accumulated Other Comprehensive loss Revision of Prior Period, Accounting Standards Update, Adjustment [Member] | Retained Earnings | Retained Earnings Revision of Prior Period, Accounting Standards Update, Adjustment [Member] | Treasury Stock | Treasury Stock Revision of Prior Period, Accounting Standards Update, Adjustment [Member] | AVD Total | AVD Total Revision of Prior Period, Accounting Standards Update, Adjustment [Member] | Non- Controlling Interest | Non- Controlling Interest Revision of Prior Period, Accounting Standards Update, Adjustment [Member]
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Balance at Dec. 31, 2017 | $ 305,314 | $ 2,214 | $ 3,225 |  | $ 75,658 |  | $ (4,507) |  | $ 238,953 | $ 2,214 | $ (8,269) |  | $ 305,060 | $ 2,214 | $ 254 |
Balance (in shares) at Dec. 31, 2017 |  |  | 32,241,866 |  |  |  |  |  |  |  | 2,450,634 |  |  |  |  |
Adjustment to recognize new standard on taxes on foreign asset transfers | (180) |  |  |  |  |  |  |  | (180) |  |  |  | (180) |  |  |
Stocks issued under ESPP | $ 670 |  | $ 2 |  | 668 |  |  |  |  |  |  |  | 670 |  |  |
Stocks issued under ESPP, Shares | 35,950 |  | 35,950 |  |  |  |  |  |  |  |  |  |  |  |  |
Cash dividends on common stock ($0.08 per share 2018, $0.08 per share 2019, $0.04 per share 2020) | $ (2,342) |  |  |  |  |  |  |  | (2,342) |  |  |  | (2,342) |  |  |
Stock based compensation | 5,805 |  |  |  | 5,805 |  |  |  |  |  |  |  | 5,805 |  |  |
Stock options exercised; grants, termination, and vesting of restricted stock units (net of shares in lieu of taxes) | 1,047 |  | $ 49 |  | 998 |  |  |  |  |  |  |  | 1,047 |  |  |
Stock options exercised; grants, termination, and vesting of restricted stock units (net of shares in lieu of taxes), Shares |  |  | 475,011 |  |  |  |  |  |  |  |  |  |  |  |  |
Non-controlling interest | (73) |  |  |  | 48 |  |  |  |  |  |  |  | 48 |  | (121) |
Shares repurchased | (7,287) |  |  |  |  |  |  |  |  |  | $ (7,287) |  | (7,287) |  |  |
Shares repurchased (In Shares) |  |  |  |  |  |  |  |  |  |  | (452,358) |  |  |  |  |
Net income | 24,062 |  |  |  |  |  |  |  | 24,195 |  |  |  | 24,195 |  | (133) |
Balance at Dec. 31, 2018 | 329,230 |  | $ 3,276 |  | 83,177 |  | (4,507) |  | 262,840 |  | $ (15,556) |  | 329,230 |  |  |
Balance (in shares) at Dec. 31, 2018 |  |  | 32,752,827 |  |  |  |  |  |  |  | 2,902,992 |  |  |  |  |
Stocks issued under ESPP | $ 716 |  | $ 5 |  | 711 |  |  |  |  |  |  |  | 716 |  |  |
Stocks issued under ESPP, Shares | 47,229 |  | 47,229 |  |  |  |  |  |  |  |  |  |  |  |  |
Cash dividends on common stock ($0.08 per share 2018, $0.08 per share 2019, $0.04 per share 2020) | $ (2,323) |  |  |  |  |  |  |  | (2,323) |  |  |  | (2,323) |  |  |
Foreign currency translation adjustment, net | (1,191) |  |  |  |  |  | (1,191) |  |  |  |  |  | (1,191) |  |  |
Stock based compensation | 7,160 |  |  |  | 7,160 |  |  |  |  |  |  |  | 7,160 |  |  |
Stock options exercised; grants, termination, and vesting of restricted stock units (net of shares in lieu of taxes) | (433) |  | $ 43 |  | (476) |  |  |  |  |  |  |  | (433) |  |  |
Stock options exercised; grants, termination, and vesting of restricted stock units (net of shares in lieu of taxes), Shares |  |  | 433,558 |  |  |  |  |  |  |  |  |  |  |  |  |
Shares repurchased | (2,604) |  |  |  |  |  |  |  |  |  | $ (2,604) |  | (2,604) |  |  |
Shares repurchased (In Shares) |  |  |  |  |  |  |  |  |  |  | (158,048) |  |  |  |  |
Net income | 13,601 |  |  |  |  |  |  |  | 13,601 |  |  |  | 13,601 |  |  |
Balance at Dec. 31, 2019 | $ 344,156 |  | $ 3,324 |  | 90,572 |  | (5,698) |  | 274,118 |  | $ (18,160) |  | 344,156 |  |  |
Balance (in shares) at Dec. 31, 2019 | 33,233,614 |  | 33,233,614 |  |  |  |  |  |  |  | 3,061,040 |  |  |  |  |
Stocks issued under ESPP | $ 721 |  | $ 5 |  | 716 |  |  |  |  |  |  |  | 721 |  |  |
Stocks issued under ESPP, Shares | 49,668 |  | 49,668 |  |  |  |  |  |  |  |  |  |  |  |  |
Cash dividends on common stock ($0.08 per share 2018, $0.08 per share 2019, $0.04 per share 2020) | $ (1,178) |  |  |  |  |  |  |  | (1,178) |  |  |  | (1,178) |  |  |
Foreign currency translation adjustment, net | (3,624) |  |  |  |  |  | (3,624) |  |  |  |  |  | (3,624) |  |  |
Stock based compensation | 6,561 |  |  |  | 6,561 |  |  |  |  |  |  |  | 6,561 |  |  |
Stock options exercised; grants, termination, and vesting of restricted stock units (net of shares in lieu of taxes) | (1,142) |  | $ 65 |  | (1,207) |  |  |  |  |  |  |  | (1,142) |  |  |
Stock options exercised; grants, termination, and vesting of restricted stock units (net of shares in lieu of taxes), Shares |  |  | 639,151 |  |  |  |  |  |  |  |  |  |  |  |  |
Net income | 15,242 |  |  |  |  |  |  |  | 15,242 |  |  |  | 15,242 |  |  |
Balance at Dec. 31, 2020 | $ 360,736 |  | $ 3,394 |  | $ 96,642 |  | $ (9,322) |  | $ 288,182 |  | $ (18,160) |  | $ 360,736 |  |  |
Balance (in shares) at Dec. 31, 2020 | 33,922,433 |  | 33,922,433 |  |  |  |  |  |  |  | 3,061,040 |  |  |  |  |

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