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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
shares in Thousands, $ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Current assets    
Accounts receivable, allowance for doubtful accounts $ 1,536 $ 1,600
Stockholders' equity    
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) 41,243 40,764
Common stock, shares outstanding (in shares) 37,519 39,726
Treasury stock, shares outstanding (in shares) 3,724 1,038