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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
shares in Thousands, $ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts $ 9,348 $ 7,802
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common shares authorized 150,000 100,000
Common shares issued 59,987 59,029
Common shares outstanding 56,597 55,661
Common shares in treasury, at cost 3,390 3,368