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Stock incentive plans, Stock options (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Remaining Term [Abstract]    
Unrecognized compensation cost related to stock options $ 2,100  
Weighted average period to recognize compensation cost not yet recognized 2 years 4 months 24 days  
Fair value of all awards vested $ 1,700 $ 1,700
Intrinsic value of stock options exercised 268 174
Cash received from exercise of stock options 436 375
Excess tax benefit in provision for income taxes $ (35) $ (14)
2005 Equity Incentive Plan and 2014 Equity Incentive Plan [Member] | Stock Options [Member]    
Number of Shares [Roll Forward]    
Outstanding, beginning of period (in shares) 1,287,605  
Granted (in shares) 153,000  
Exercised (in shares) (97,000) (62,500)
Forfeited (in shares) (45,750)  
Expired (in shares) (28,500)  
Outstanding, end of period (in shares) 1,269,355 1,287,605
Options vested or expected to vest (in shares) 1,269,355  
Options exercisable, end of period (in shares) 856,723  
Weighted Average Exercise Price [Abstract]    
Outstanding, beginning of period (in dollars per share) [1] $ 8.98  
Granted (in dollars per share) [1] 10.55  
Exercised (in dollars per share) [1] 8.47  
Forfeited (in dollars per share) [1] 8.87  
Expired (in dollars per share) [1] 10.22  
Outstanding, end of period (in dollars per share) [1] 9.18 $ 8.98
Options vested or expected to vest (in dollars per share) [1] 9.18  
Options exercisable, end of period (in dollars per share) [1] $ 9.00  
Aggregate Intrinsic Value [Abstract]    
Options vested and expected to vest $ 2,662  
Options exercisable, end of period $ 1,982  
Remaining Term [Abstract]    
Options vested and expected to vest [2] 5 years 7 months 6 days  
Options exercisable, end of period [2] 4 years 1 month 6 days  
2005 Equity Incentive Plan and 2014 Equity Incentive Plan [Member] | Restricted Share Units [Member]    
Number of Shares [Roll Forward]    
Options vested or expected to vest (in shares) 132,518  
Weighted Average Exercise Price [Abstract]    
Options vested or expected to vest (in dollars per share) [1] $ 0  
Number of Units [Roll Forward]    
Outstanding, beginning of period (in shares) 110,550  
Granted (in shares) 95,200  
Exercised (in shares) (50,525)  
Forfeited (in shares) 0  
Expired (in shares) 0  
Outstanding, end of period (in shares) 155,225 110,550
Weighted Average Grant Stock Price [Abstract]    
Outstanding, beginning of period (in dollars per share) [3] $ 10.30  
Granted (in dollars per share) [3] 10.27  
Exercised (in dollars per share) [3] 10.29  
Forfeited (in dollars per share) [3] 0  
Expired (in dollars per share) [3] 0  
Outstanding, end of period (in dollars per share) [3] $ 10.28 $ 10.30
Aggregate Intrinsic Value [Abstract]    
Restricted stock units vested and expected to vest $ 1,444  
Remaining Term [Abstract]    
Restricted stock units vested and expected to vest [2] 2 years 2 months 12 days  
[1] weighted average exercise price per share
[2] weighted-average contractual remaining term in years
[3] weighted average grant stock price per share