Quarterly report pursuant to Section 13 or 15(d)

Capital Transactions - Narrative (Details)

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Capital Transactions - Narrative (Details)
 3 Months Ended 6 Months Ended 12 Months Ended
May 05, 2021
shares
Jun. 30, 2024
USD ($)
shares
Mar. 31, 2024
USD ($)
Jun. 30, 2023
USD ($)
Mar. 31, 2023
USD ($)
Jun. 30, 2024
USD ($)
vestingInstallment
$ / shares
shares
Jun. 30, 2023
USD ($)
shares
Dec. 31, 2015
shares
Dec. 31, 2023
USD ($)
shares
Mar. 08, 2022
USD ($)
Mar. 10, 2021
USD ($)
Dec. 31, 2012
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Stock repurchase program, authorized amount                   $ 30,000,000 $ 15,000,000  
Repurchase of common stock (in shares) | shares           453,000 99,000          
Repurchase of common stock   $ 5,876,000 $ 1,848,000 $ 97,000 $ 823,000 $ 7,700,000 $ 900,000          
Stock repurchase program, remaining authorized repurchase amount   9,900,000       9,900,000            
2012 Stock Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Number of shares authorized under the plan (in shares) | shares                       1,500,000
Additional number of shares authorized under the plan (in shares) | shares 2,000,000             1,500,000        
Stock options                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share-based compensation expense   0   0   0 0          
Unrecognized share-based compensation expense   $ 0       $ 0     $ 0      
Options outstanding (in shares) | shares   75,000       75,000     75,000      
Aggregate intrinsic value, outstanding   $ 500,000       $ 500,000     $ 500,000      
Exercised (in shares) | shares           0            
Exercised (in dollars per share) | $ / shares           $ 0            
Weighted-average grant date fair value (in dollars per share) | $ / shares           $ 0            
Time-based stock options | Maximum                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting period           48 months            
Performance based stock options operating income margins                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Operating income margin, one (percentage)           6.00%            
Operating income margin, two (percentage)           8.00%            
Operating income margin, three (percentage)           10.00%            
Unvested stock options outstanding (in shares) | shares   0       0     0      
Performance based stock options operating income margins | Minimum                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting period           1 year            
Performance based stock options operating income margins | Maximum                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting period           1 year 3 months            
RSUs                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share-based compensation expense   $ 900,000   1,100,000   $ 1,900,000 $ 1,900,000          
Unrecognized share-based compensation expense   $ 4,100,000       $ 4,100,000     $ 4,200,000      
Weighted-average period over which the remaining compensation cost is expected to be recognized           9 months 18 days            
Minimum withholding requirements (in shares) | shares           38,000 24,000          
RSUs | 2012 Stock Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Granted (in shares) | shares           375,000            
RSUs | Minimum | 2012 Stock Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting period           12 months            
RSUs | Maximum | 2012 Stock Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting period           36 months            
RSUs | Director | 2012 Stock Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Restriction period for issuance of shares           2 years            
Nonvested subject to restriction period (in shares) | shares   110,000       110,000     100,000      
Time-Based Restricted Stock Units (RSUs), 1-year Vesting | 2012 Stock Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting period           1 year            
Weighted-average grant date fair value (in dollars per share) | $ / shares           $ 17.20            
Number of vesting installments | vestingInstallment           12            
Time-Based Restricted Stock Units (RSUs), 3-year Vesting | 2012 Stock Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting period           3 years            
Adjusted EBITDA Performance-Based Restricted Stock Units | 2012 Stock Incentive Plan                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Vesting period           1 year            
Weighted-average grant date fair value (in dollars per share) | $ / shares           $ 17.25            
Performance-Based Restricted Stock Units (RSUs)                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share-based compensation expense   $ 300,000   $ 300,000   $ 700,000 $ 600,000          
Share based compensation potential compensation expense to be recognized   3,200,000       3,200,000            
Performance-Based Restricted Stock Units (RSUs) | Maximum                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share based compensation potential compensation expense to be recognized   $ 7,800,000       $ 7,800,000