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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Accounts Receivable, Allowance for Credit Loss, Current $ 1,821 $ 1,589
Preferred stock, par value (in USD per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 1,000,000 1,000,000
Preferred stock, shares issued (in shares) 0 0
Common stock, par value (in USD per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 30,000,000 30,000,000
Common stock, shares issued (in shares) 19,735,353 19,398,699
Common stock, shares outstanding (in shares) 18,302,659 18,001,261
Treasury stock, shares outstanding (in shares) 1,432,694 1,397,438