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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Accounts receivable, allowances $ 312 $ 592
Redeemable preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Redeemable preferred stock, shares authorized (in shares) 256,000 256,000
Redeemable preferred stock, shares issued (in shares) 256,000 256,000
Redeemable preferred stock, shares outstanding (in shares) 256,000 256,000
Redeemable preferred stock, aggregate liquidation preference $ 255,559 $ 255,559
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 9,744,000 9,744,000
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) 400,000,000 400,000,000
Common stock, shares issued (in shares) 83,364,000 79,904,000
Common stock, shares outstanding (in shares) 80,232,000 79,482,000
Treasury stock (in shares) 3,132,000 422,000
Accumulated other comprehensive loss $ (2,221) $ (1,896)