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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts $ 886 $ 776
Common stock, par value (in dollars per share) $ 0 $ 0
Common stock, shares authorized (in shares) 96,000,000 96,000,000
Common stock, shares issued (in shares) 50,272,000 50,110,000
Common stock, shares outstanding (in shares) 50,272,000 50,110,000