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Debt and Line of Credit (Details Textual)			12 Months Ended
	Jun. 27, 2019 USD ($)	Oct. 30, 2018 USD ($) covenant	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	May 31, 2020 USD ($)	Apr. 01, 2019 USD ($)	Apr. 30, 2010 interestRateSwapAgreement	Apr. 01, 2010 contract
Debt Instrument [Line Items]
Total long-term debt			$ 6,927,000	$ 0
Repayments of long-term lines of credit			0	15,000,000
2018 term notes
Debt Instrument [Line Items]
Repayments of long-term debt	$ 21,375,000
PPP Loan
Debt Instrument [Line Items]
Total long-term debt			6,927,000	0	$ 6,927,000
Senior Credit Facility | Line of Credit | 2018 term notes
Debt Instrument [Line Items]
Term of debt instrument		3 years
Maximum borrowing capacity		$ 42,500,000
Senior Credit Facility | Line of Credit | Term loan
Debt Instrument [Line Items]
Maximum borrowing capacity		22,500,000
Senior Credit Facility | Line of Credit | Revolving loan agreement
Debt Instrument [Line Items]
Maximum borrowing capacity		$ 20,000,000	15,000,000	$ 20,000,000
Repayments of long-term lines of credit	$ 13,000,000
Line of credit facility, current borrowing capacity			$ 9,400,000
Number of financial covenants | covenant		2
Consolidated fixed charge coverage ratio		1.25
Mortgage Loan On Headquarters Facility | Mortgages
Debt Instrument [Line Items]
Balloon payment to be paid						$ 2,551,000
Mortgage Loan On Headquarters Facility | Mortgages | Period One
Debt Instrument [Line Items]
Strike rate							5.91%
Mortgage Loan On Headquarters Facility | Mortgages | Period Two
Debt Instrument [Line Items]
Strike rate							6.07%
Debt Covenant Period, One | Senior Credit Facility | Line of Credit | Revolving loan agreement
Debt Instrument [Line Items]
Consolidated leverage ratio		2.50
Debt Covenant Period, Two | Senior Credit Facility | Line of Credit | Revolving loan agreement
Debt Instrument [Line Items]
Consolidated leverage ratio		2.00
Interest Rate Swap
Debt Instrument [Line Items]
Number of interest rate swap agreements							2	2

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