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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Stockholders’ equity:    
Convertible preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Convertible preferred stock, authorized shares 5,000,000 5,000,000
Convertible preferred stock, issued shares 0 0
Convertible preferred stock, outstanding shares 0 0
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, authorized shares 500,000,000 500,000,000
Common stock, issued shares 107,853,778 107,610,356
Common stock, outstanding shares 107,853,778 107,610,356