CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Sep. 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)	28,877,896	28,589,567
Common stock, outstanding (in shares)	27,520,284	27,319,045
Treasury stock (in shares)	1,357,612	1,270,522