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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 80,000,000 80,000,000
Common stock, shares issued (in shares) 26,627,319 26,359,876
Common stock outstanding (in shares) 14,999,501 14,732,058
Treasury stock, shares (in shares) 11,627,818