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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
shares in Thousands, $ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Statement of Financial Position [Abstract]    
Accounts receivable, allowance for doubtful accounts $ 1,600 $ 1,419
Preferred stock, shares authorized (in shares) 500 500
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) 75,000 75,000
Common stock, shares issued (in shares) 40,764 40,593
Common stock, shares outstanding (in shares) 39,726 40,001
Treasury stock, shares outstanding (in shares) 1,038 592