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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Statement of Financial Position [Abstract]    
Accounts receivable, net of allowance for doubtful accounts $ 3,773 $ 3,631
Financing receivable, allowance for credit loss, current 304 319
Financing receivable, allowance for credit loss, noncurrent $ 79 $ 97
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) 15,572,000 15,121,000
Treasury stock (in shares) 613,000 572,000