CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Jun. 30, 2023	Dec. 31, 2022
Shareholders’ equity:
Preferred stock, par value (in dollars per share)	$ 0.02	$ 0.02
Preferred stock authorized (in shares)	1,000,000	1,000,000
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)	28,799,349	28,589,567
Common stock outstanding (in shares)	27,443,072	27,319,045
Treasury stock, shares (in shares)	1,356,277	1,270,522