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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts $ 7,107 $ 5,136
Preferred stock, par value per share $ 0.1 $ 0.1
Preferred stock, shares authorized 400,000 400,000
Preferred stock, shares issued 0 0
Common stock, par value per share $ 0.1 $ 0.1
Common stock, shares authorized 40,000,000 40,000,000
Common stock, shares issued 34,676,787 34,446,194
Treasury stock, shares 5,915,182 5,029,892