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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
shares in Thousands, $ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Accounts receivable, allowance for doubtful accounts $ 3,631 $ 2,854
Financing receivable, allowance for credit loss, current 319 223
Financing receivable, allowance for credit loss, noncurrent $ 97 $ 326
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) 15,121 14,913
Common stock, shares outstanding (in shares) 15,121 14,913
Treasury stock, shares (in shares) 572 483