Consolidated Balance Sheets (Parentheticals) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Receivables, allowance for credit loss	$ 4,806	$ 4,959
Long-term receivables, allowance for credit loss	$ 5,529	$ 6,897
Preferred stock, par value (in dollars per share)	$ 1	$ 1
Preferred stock, shares authorized (in shares)	10,000,000	10,000,000
Preferred stock, shares issued (in shares)	0	0
Preferred stock, shares outstanding (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	40,000,000	40,000,000
Common stock, shares issued (in shares)	24,959,972	24,992,275
Common stock, shares outstanding (in shares)	15,599,239	17,163,946
Treasury stock, shares (in shares)	9,360,733	7,828,329