CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Jun. 30, 2023	Dec. 31, 2022
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	50,000,000	50,000,000
Common stock, shares issued (in shares)	20,321,490	20,156,233
Common stock, shares outstanding (in shares)	18,946,798	18,780,013
Treasury stock, shares (in shares)	1,374,692	1,376,220
5.50% Convertible senior notes due 2028 | Convertible Debt
Stated interest rate	5.50%