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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Stockholders' equity:                
Preferred stock, par value (in dollars per share) $ 0.001     $ 0.001 $ 0.001      
Preferred stock, shares authorized (in shares) 15,000,000.0     15,000,000.0 15,000,000.0      
Preferred stock, shares issued (in shares) 0     0 0      
Preferred stock, shares outstanding (in shares) 0     0 0      
Common stock, par value (in dollars per share) $ 0.001 $ 0.001 $ 0.001 $ 0.001 $ 0.001 $ 0.001 $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 200,000,000.0     200,000,000.0 200,000,000.0      
Common stock, shares issued (in shares) 57,400,000     55,700,000 55,500,000      
Common stock, shares outstanding (in shares) 51,800,000     50,100,000 49,900,000      
Treasury stock (in shares) 5,600,000     5,600,000 5,600,000