CONSOLIDATED BALANCE SHEETS (Parentheticals) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Statement of Financial Position [Abstract]
Accounts receivable, allowance	$ 4,324	$ 3,806
Preferred stock par value	$ 1.00	$ 1.00
Preferred stock shares authorized	1,000,000	1,000,000
Preferred stock shares issued	0	0
Preferred stock shares outstanding	0	0
Common stock par value	$ 0.666	$ 0.666
Common stock shares authorized	70,000,000	70,000,000
Common stock shares issued	45,017,774	44,276,194
Common stock shares outstanding	45,017,774	44,276,194
Treasury stock, at cost, issued	9,272,513	9,259,858
Treasury stock, at cost, outstanding	9,272,513	9,259,858