CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Statement of Financial Position [Abstract]
Accounts receivable, allowance for doubtful accounts	$ 2,631	$ 2,605
Preferred stock, par value (in dollars per share)	$ 0.05	$ 0.05
Preferred stock, authorized (in shares)	4,000,000	4,000,000
Preferred stock, issued (in shares)	0	0
Preferred stock, outstanding (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.05	$ 0.05
Common stock, authorized (in shares)	25,000,000	25,000,000
Common stock, outstanding (in shares)	15,833,470	15,389,285
Treasury stock (in shares)	566,343	528,274