Quarterly report pursuant to Section 13 or 15(d)

Capital Transactions - Narrative (Details)

v3.23.3
Capital Transactions - Narrative (Details)
 3 Months Ended 9 Months Ended 12 Months Ended
May 05, 2021
shares
Sep. 30, 2023
USD ($)
shares
Jun. 30, 2023
USD ($)
Mar. 31, 2023
USD ($)
Sep. 30, 2022
USD ($)
Jun. 30, 2022
USD ($)
Mar. 31, 2022
USD ($)
Sep. 30, 2023
USD ($)
vestingInstallment
$ / shares
shares
Sep. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2015
shares
Dec. 31, 2022
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               180,000 834,000          
Repurchase of common stock   $ 1,308,000 $ 97,000 $ 823,000 $ 974,000 $ 4,000,000 $ 7,971,000 $ 2,200,000 $ 12,900,000          
Stock repurchase program, remaining authorized repurchase amount   21,800,000           21,800,000            
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     143,000      
Aggregate intrinsic value, outstanding   $ 399,000           $ 399,000     $ 0      
Exercised (in shares) | shares               27,000 29,000          
Exercised (in dollars per share) | $ / shares               $ 13.88 $ 9.17          
Aggregate intrinsic values of options exercised               $ 100,000 $ 300,000          
Tax benefit from the exercise of stock options               $ 100,000 100,000          
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]                            
Award performance period               1 year            
Performance based stock options operating income margins | Maximum                            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                            
Award performance period               1 year 3 months            
RSUs                            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                            
Share-based compensation expense   $ 1,000,000     300,000     $ 2,900,000 $ 1,200,000          
Unrecognized share-based compensation expense   $ 3,500,000           $ 3,500,000     $ 3,000,000      
Discount for lack of marketability               11.90%            
Weighted-average period over which the remaining compensation cost is expected to be recognized               9 months 18 days            
Minimum withholding requirements (in shares) | shares               48,000 80,000          
RSUs | 2012 Stock Incentive Plan                            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                            
Granted (in shares) | shares               533,000            
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   90,000           90,000     94,000      
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               $ 10.55            
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            
Performance-Based Restricted Stock Units (RSUs)                            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                            
Share-based compensation expense   $ 300,000     $ 200,000     $ 900,000 $ 700,000          
Share based compensation potential compensation expense to be recognized   3,100,000           3,100,000            
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   $ 6,100,000           $ 6,100,000            
Adjusted EBITDA Performance-Based Restricted Stock Units | 2012 Stock Incentive Plan                            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                            
Vesting period               4 years            
Weighted-average grant date fair value (in dollars per share) | $ / shares               $ 10.74