Consolidated Balance Sheets (Parentheticals) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Receivables, allowance for credit loss	$ 4,587	$ 4,806
Long-term receivables, allowance for credit loss	$ 5,908	$ 5,529
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)	24,915,372	24,959,972
Common stock, shares outstanding (in shares)	15,674,739	15,599,239
Treasury stock, shares (in shares)	9,240,633	9,360,733