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Consolidated Balance Sheets (Parentheticals) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Accounts receivable, allowance for doubtful accounts $ 231 $ 544
Preferred stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Preferred stock, shares authorized (in shares) 10,000,000 10,000,000
Preferred stock, shares issued (in shares) 0 0
Preferred stock, shares outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.0005 $ 0.0005
Common stock, shares authorized (in shares) 200,000,000 200,000,000
Common stock, shares issued (in shares) 85,917,891 84,385,458
Common stock, shares outstanding (in shares) 81,306,322 80,085,306
Treasury stock, shares (in shares) 4,611,569 4,300,152