CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Accounts receivable, allowance for doubtful accounts	$ 2,801	$ 2,773
Preferred stock, par value (in dollars per share)	$ 0.05	$ 0.05
Preferred stock, authorized (in shares)	4,000,000	4,000,000
Preferred stock, issued (in shares)	0	0
Preferred stock, outstanding (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.05	$ 0.05
Common stock, authorized (in shares)	50,000,000	50,000,000
Common stock, issued (in shares)	20,119,929	19,920,829
Treasury stock (in shares)	597,758	570,415