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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Sep. 30, 2023
Dec. 31, 2022
CONDENSED CONSOLIDATED BALANCE SHEETS    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, authorized shares 5,000,000 5,000,000
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, authorized shares 100,000,000 100,000,000
Common stock, issued shares 38,000,607 37,084,759
Common stock, outstanding shares 33,061,932 33,848,936
Treasury stock, shares 4,938,675 3,235,823