Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Allowance for doubtful accounts, accounts receivable	$ 514	$ 788
Preferred shares, par value	$ 0.10	$ 0.10
Preferred shares, shares authorized	5,000,000	5,000,000
Preferred shares, issued	0	0
Common stock, par value	$ 0.10	$ 0.10
Common stock, shares authorized	145,000,000	145,000,000
Common stock, issued	35,164,000	35,213,000
Common stock, outstanding	35,164,000	35,213,000