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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Accounts receivable, net of allowance for doubtful accounts $ 2,850 $ 2,854
Financing receivable, allowance for credit loss, current 139 223
Financing receivable, allowance for credit loss, noncurrent $ 379 $ 326
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 30,000,000 30,000,000
Common stock, shares issued (in shares) 15,099,000 14,906,000
Treasury stock, shares (in shares) 568,000 483,000