Consolidated Balance Sheets (Parentheticals) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Statement of Financial Position [Abstract]
Receivables, allowance for credit loss	$ 4,635	$ 4,462
Long-term receivables, allowance for credit loss	$ 4,758	$ 5,002
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)	24,830,124	24,870,529
Common stock, shares outstanding (in shares)	15,453,001	15,344,768
Treasury stock, shares (in shares)	9,377,123	9,525,761