Quarterly report pursuant to Section 13 or 15(d)

Capital Transactions - Narrative (Details)

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Capital Transactions - Narrative (Details)
 3 Months Ended 12 Months Ended
May 05, 2021
shares
Mar. 31, 2024
USD ($)
vestingInstallment
$ / shares
shares
Mar. 31, 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   105,000 90,000          
Repurchase of common stock   $ 1,848,000 $ 823,000          
Stock repurchase program, remaining authorized repurchase amount   15,800,000            
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          
Unrecognized share-based compensation expense   $ 0     $ 0      
Options outstanding (in shares) | shares   75,000     75,000      
Aggregate intrinsic value, outstanding   $ 500,000     $ 500,000      
Exercised (in shares) | shares   0 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      
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 $ 800,000          
Unrecognized share-based compensation expense   $ 4,800,000     $ 2,900,000      
Weighted-average period over which the remaining compensation cost is expected to be recognized   1 year            
Minimum withholding requirements (in shares) | shares   9,000 15,000          
RSUs | 2012 Stock Incentive Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Granted (in shares) | shares   335,000            
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   123,000     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   $ 17.24            
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   $ 400,000 $ 300,000          
Share based compensation potential compensation expense to be recognized   3,800,000            
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   $ 8,200,000            
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   $ 17.24