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Condensed Consolidated Balance Sheets (Unaudited) (Parentheticals) - USD ($)
$ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Accounts receivable, allowance $ 3,317 $ 3,237
Preferred stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, authorized Unlimited Unlimited
Treasury stock, shares (in shares) 516,123 516,123
Common Class A [Member]    
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, issued (in shares) 76,292,604 75,612,795
Common stock, outstanding (in shares) 76,292,604 75,612,795
Common Class B [Member]    
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, issued (in shares) 13,582,642 13,582,642
Common stock, outstanding (in shares) 13,582,642 13,582,642