CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Dec. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Preferred stock, par value (in dollars per share)	$ 0.02	$ 0.02
Preferred stock, authorized (in shares)	1,000,000	1,000,000
Preferred stock, outstanding (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.02	$ 0.02
Common stock, authorized (in shares)	58,000,000	58,000,000
Common stock, issued (in shares)	28,589,567	28,094,333
Common stock, outstanding (in shares)	27,319,045	26,924,397
Treasury stock, at cost (in shares)	1,270,522	1,181,449