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Consolidated Balance Sheets (Unaudited) (Parenthetical) - $ / shares
Mar. 31, 2024
Dec. 31, 2023
Mar. 31, 2023
Statement of Financial Position [Abstract]      
Common stock, par value (in dollars per share) $ 0.001 $ 0.001 $ 0.001
Common stock, authorized (in shares) 100,000,000 100,000,000 100,000,000
Common Stock, Shares, Outstanding 38,462,331 38,354,829 39,032,631