Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Condensed Financial Statements, Captions [Line Items]
Accounts receivable, less allowance for doubtful accounts	$ 6,094	$ 5,936
Debt issuance costs	$ 1,638	$ 1,785
Common stock, shares issued (in shares)	21,637,984
Common stock, shares outstanding (in shares)	18,166,011
Treasury stock, shares (in shares)	3,471,973	2,927,739
Class A Common Stock
Condensed Financial Statements, Captions [Line Items]
Common stock, par value (in dollars per share)	$ 0.0000001	$ 0.0000001
Common stock, shares authorized (in shares)	100,000,000	100,000,000
Common stock, shares issued (in shares)	21,325,943	20,852,749
Common stock, shares outstanding (in shares)	17,853,970	17,925,010
Class B Common Stock
Condensed Financial Statements, Captions [Line Items]
Common stock, par value (in dollars per share)	$ 0.0000001	$ 0.0000001
Common stock, shares authorized (in shares)	100,000,000	100,000,000
Common stock, shares issued (in shares)	312,041	312,041
Common stock, shares outstanding (in shares)	312,041	312,041
6.75% Senior Notes | Senior Notes
Condensed Financial Statements, Captions [Line Items]
Debt issuance costs	$ 2,919	$ 3,138
Stated rate	6.75%	6.75%