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Consolidated balance sheets (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts $ 10,690 $ 11,114
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 14,800,000 14,800,000
Common stock, shares issued (in shares) 6,223,454 6,100,886
Treasury stock, shares, at cost (in shares) 570,247 467,153