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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Sep. 30, 2024
Dec. 31, 2023
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 350,000,000 350,000,000
Common stock, shares issued (in shares) 46,573,353 45,858,022
Common stock, shares outstanding (in shares) 39,016,629 38,486,762
Treasury stock, shares (in shares) 7,556,724 7,371,260