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Consolidated Balance Sheets (Parenthetical) - $ / shares
Mar. 31, 2024
Dec. 31, 2023
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, authorized shares (in shares) 250,000,000 250,000,000
Common stock, issued shares (in shares) 76,653,960 75,708,889
Common stock, outstanding shares (in shares) 76,653,960 75,708,889