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Consolidated Balance Sheets (Parenthetical) - USD ($)
shares in Thousands, $ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Statement of Financial Position [Abstract]    
Accounts receivable, allowance for doubtful accounts $ 2,854 $ 1,826
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 30,000 30,000
Common stock, shares issued (in shares) 14,913 14,734
Common stock, shares outstanding (in shares) 14,913 14,734
Treasury stock, shares (in shares) 483 89