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Consolidated Balance Sheets (Parentheticals) - USD ($)
$ in Thousands
Jun. 30, 2024
Dec. 31, 2023
Statement of Financial Position [Abstract]    
Receivables, allowance for credit loss $ 3,772 $ 4,462
Long-term receivables, allowance for credit loss $ 652 $ 5,002
Preferred stock, par value (in dollars per share) $ 1 $ 1
Preferred stock, authorized (in shares) 10,000,000 10,000,000
Preferred stock, issued (in shares) 0 0
Preferred stock, outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, authorized (in shares) 40,000,000 40,000,000
Common stock, issued (in shares) 24,814,459 24,870,529
Common stock, outstanding (in shares) 15,299,270 15,344,768
Treasury stock (in shares) 9,515,189 9,525,761