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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
shares in Thousands, $ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Accounts receivable, reserves $ 1,132 $ 962
Preferred shares, authorized (in shares) 5,000 5,000
Preferred shares, issued (in shares) 0 0
Common shares, authorized (in shares) 60,000 60,000
Common shares, issued (in shares) 28,966 28,966
Common shares, outstanding (in shares) 27,522 27,341
Common shares held in treasury, shares (in shares) 1,444 1,625