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Condensed Consolidated Balance Sheets (Unaudited) (Parentheticals) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Accounts receivable allowance $ 2,788 $ 2,934
Driver's advances and other receivables, allowance $ 593 $ 585
Treasury stock, shares (in shares) 5,529,051 4,918,216
Common Class A [Member]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 40,000,000 40,000,000
Common stock, shares issued (in shares) 16,125,786 16,125,786
Common stock, shares outstanding (in shares) 10,596,735 11,207,570
Common Class B [Member]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 5,000,000 5,000,000
Common stock, shares issued (in shares) 2,350,000 2,350,000
Common stock, shares outstanding (in shares) 2,350,000 2,350,000