Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Accounts receivable, allowance for credit loss, current	$ 6,979	$ 6,643
Preferred stock, par value (in dollars per share)	$ 0.01	$ 0.01
Preferred stock, authorized (in shares)	10,000,000	10,000,000
Preferred stock, issued (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.01
Common stock, authorized (in shares)	100,000,000
Common stock, issued (in shares)	20,037,959	19,866,287
Common stock, outstanding (in shares)	20,007,771	19,861,207
Treasury stock (in shares)	30,188	5,080