Consolidated Balance Sheets (Parenthetical) - USD ($)	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 11,064,000	$ 8,530,000
Convertible preferred stock, par value	$ 1.00	$ 1.00
Convertible preferred stock, authorized shares	500,000	500,000
Convertible preferred stock, outstanding shares	0	0
Common stock, par value	$ 0.10	$ 0.10
Common stock, shares authorized	80,000,000	80,000,000
Common stock, shares issued	24,144,000	23,995,000
Common stock, shares outstanding	24,141,000	23,993,000
Treasury Stock, Common, Shares	2,428	1,633