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Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - $ / shares
Sep. 30, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 120,000,000 120,000,000
Common stock, shares issued (in shares) 44,645,418 43,726,181
Common stock, shares outstanding (in shares) 41,373,010 41,477,093
Treasury stock, shares (in shares) 3,272,408 2,249,088