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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares | Dec. 31, 2023 | Dec. 31, 2022
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Statement of Financial Position [Abstract] |  |
Common stock, par value (in dollars per share) | $ 0.001 | $ 0.001
Common stock, shares authorized (in shares) | 500,000,000 | 500,000,000
Common stock, shares issued (in shares) | 188,598,154 | 186,250,719
Common stock, shares outstanding (in shares) | 188,598,154 | 186,250,719

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