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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 $ 0.001 $ 0.001
Convertible preferred stock , shares authorized 5,000,000 5,000,000
Convertible preferred stock, shares issued 0 0
Convertible preferred stock, shares outstanding 0 0
Common stock, par value $ 0.001 $ 0.001
Common stock, shares authorized 100,000,000 100,000,000
Common stock, shares issued 36,108,346 34,754,265
Common stock, shares outstanding 31,259,668 30,872,607
Treasury stock, shares 4,848,678 3,881,658