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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Preferred stock, par value (usd per share) $ 0.001 $ 0.001
Preferred stock authorized (shares) 20,000,000 20,000,000
Preferred stock issued (shares) 0 0
Preferred stock outstanding (shares) 0 0
Common stock, par value (usd per share) $ 0.001 $ 0.001
Common stock authorized (shares) 300,000,000 300,000,000
Common stock issued (shares) 126,770,000 135,154,000
Common stock outstanding (shares) 126,770,000 135,154,000