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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts $ 1,596 $ 1,589
Property and equipment, accumulated depreciation 57,992 54,034
Intangible assets, accumulated amortization $ 8,917 $ 10,113
Preferred stock, par value (in dollars 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 dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 30,000,000 30,000,000
Common stock, shares issued (in shares) 19,862,534 19,398,699
Common stock, shares outstanding (in shares) 18,429,840 18,001,261
Treasury stock, shares outstanding (in shares) 1,432,694 1,397,438