Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts, accounts receivable	$ 470	$ 514
Preferred shares, par value	$ 0.1	$ 0.1
Preferred shares, shares authorized	5,000,000	5,000,000
Preferred shares, issued	0	0
Common stock, par value	$ 0.1	$ 0.1
Common stock, shares authorized	145,000,000	145,000,000
Common stock, issued	35,664,000	35,164,000
Common stock, outstanding	35,664,000	35,164,000