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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Jun. 30, 2024
Dec. 31, 2023
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 39,532,358 38,192,441
Common stock, outstanding shares 32,319,577 31,868,549
Treasury stock, shares 7,212,781 6,323,892