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Stock incentive plans, Stock options (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021
Remaining Term [Abstract] |  |  |
Unrecognized compensation cost related to stock options |  | $ 2,100 |
Weighted average period to recognize compensation cost not yet recognized |  | 2 years 7 months 6 days |
Fair value of all awards vested |  | $ 1,600 | $ 1,700
Intrinsic value of stock options exercised |  | 40 | 268
Cash received from exercise of stock options |  | 0 | 436
Excess tax benefit in provision for income taxes |  | $ (13) | $ (35)
2005 Equity Incentive Plan and 2014 Equity Incentive Plan [Member] | Stock Options [Member] |  |  |
Number of Shares [Roll Forward] |  |  |
Outstanding, beginning of period (in shares) |  | 1,269,355 |
Granted (in shares) |  | 181,100 |
Exercised (in shares) |  | (17,500) | (97,000)
Forfeited (in shares) |  | (49,250) |
Expired (in shares) |  | (27,750) |
Outstanding, end of period (in shares) |  | 1,355,955 | 1,269,355
Options vested or expected to vest (in shares) |  | 1,355,955 |
Options exercisable, end of period (in shares) |  | 971,865 |
Weighted Average Exercise Price [Abstract] |  |  |
Outstanding, beginning of period (in dollars per share) | [1] | $ 9.18 |
Granted (in dollars per share) | [1] | 8.16 |
Exercised (in dollars per share) | [1] | 6.7 |
Forfeited (in dollars per share) | [1] | 9.38 |
Expired (in dollars per share) | [1] | 8.51 |
Outstanding, end of period (in dollars per share) | [1] | 9.08 | $ 9.18
Options vested or expected to vest (in dollars per share) | [1] | 9.08 |
Options exercisable, end of period (in dollars per share) | [1] | $ 9.23 |
Aggregate Intrinsic Value [Abstract] |  |  |
Options vested and expected to vest |  | $ 224 |
Options exercisable, end of period |  | $ 93 |
Remaining Term [Abstract] |  |  |
Options vested and expected to vest | [2] | 5 years |
Options exercisable, end of period | [2] | 3 years 8 months 12 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) |  | 145,687 |
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) |  | 155,225 |
Granted (in shares) |  | 129,700 |
Exercised (in shares) |  | (47,931) |
Forfeited (in shares) |  | (22,708) |
Expired (in shares) |  | 0 |
Outstanding, end of period (in shares) |  | 214,286 | 155,225
Weighted Average Grant Stock Price [Abstract] |  |  |
Outstanding, beginning of period (in dollars per share) | [3] | $ 10.28 |
Granted (in dollars per share) | [3] | 8.78 |
Exercised (in dollars per share) | [3] | 10.22 |
Forfeited (in dollars per share) | [3] | 10.27 |
Expired (in dollars per share) | [3] | 0 |
Outstanding, end of period (in dollars per share) | [3] | $ 9.28 | $ 10.28
Aggregate Intrinsic Value [Abstract] |  |  |
Restricted stock units vested and expected to vest |  | $ 921 |
Remaining Term [Abstract] |  |  |
Restricted stock units vested and expected to vest | [2] | 2 years 1 month 6 days |
[1] | weighted average exercise price per share
[2] | weighted-average contractual remaining term in years
[3] | weighted average grant stock price per share

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