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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
shares in Thousands, $ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Current assets    
Accounts receivable, allowance for doubtful accounts $ 1,472 $ 1,536
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) 41,492 41,243
Common stock, shares outstanding (in shares) 37,768 37,519
Treasury stock, common, shares (in shares) 3,724 3,724