Condensed Consolidated Balance Sheets (Unaudited) (Parentheticals) - USD ($)	Mar. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 4,700,000	$ 4,500,000
Preferred stock,par value (usd per share)	$ 0.01	$ 0.01
Liquidation preference	$ 1,000	$ 1,000
Preferred stock, shares authorized (shares)	10,000,000	10,000,000
Preferred stock shares outstanding (shares)	402,500	402,500
Preferred stock, shares issued (shares)	402,500	402,500
Common stock, par value (usd per share)	$ 0.01	$ 0.01
Common stock, shares authorized (shares)	150,000,000	150,000,000
Common stock, shares issued (shares)	42,725,897	42,563,032
Common stock, shares outstanding (shares)	42,725,897	42,563,032
Treasury stock (shares)	760,782	760,782