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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Convertible preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Convertible preferred stock, shares issued (in shares) 2,250,000 2,250,000
Convertible preferred stock, shares outstanding (in shares) 2,250,000 2,250,000
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 7,750,000 7,750,000
Preferred stock, shares outstanding (in shares) 0 0
Preferred stock, shares issued (in shares) 0 0
Common stock, par value (in usd per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 100,000,000 100,000,000
Common stock, shares issued (in shares) 41,457,000 39,977,000
Common stock, shares outstanding (in shares) 28,629,000 27,562,000
Treasury stock (in shares) 12,828,000 12,415,000