Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Condensed Financial Statements, Captions [Line Items]
Accounts receivable, less allowance for doubtful accounts	$ 6,356	$ 5,936
Debt issuance costs	$ 1,355	$ 1,785
Common stock, shares issued (in shares)	21,726,906
Common stock, shares outstanding (in shares)	16,508,170
Treasury stock, shares (in shares)	5,218,736	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)	21,414,865	20,852,749
Common stock, shares outstanding (in shares)	16,196,129	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	$ 2,298	$ 3,138
Stated rate (as percent)	6.75%	6.75%