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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 5,000,000 5,000,000
Preferred stock, shares issued (in shares) 0 0
Preferred stock, shares outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 110,000,000 110,000,000
Common stock, shares issued (in shares) 38,971,146 38,309,144
Common stock, shares outstanding (in shares) 36,820,048 36,158,046
Treasury stock, shares (in shares) 2,151,098 2,151,098