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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Common stock, par value (in usd per share) $ 0.001 $ 0.001
Common stock, authorized (in shares) 160,000,000 160,000,000
Common stock, shares issued (in shares) 80,722,983 80,216,028
Common stock, shares outstanding (in shares) 79,234,991 78,787,768
Treasury stock, common shares (in shares) 1,487,992 1,428,260
Series A-3 and A-4 Preferred Stock    
Preferred stock, par value (in usd per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 20,000,000 20,000,000
Series A- 3 Preferred Stock    
Preferred stock, shares issued (in shares) 6,125 6,125
Preferred stock, shares outstanding (in shares) 6,125 6,125
Series A- 4 Preferred Stock    
Preferred stock, shares issued (in shares) 10,000 10,000
Preferred stock, shares outstanding (in shares) 10,000 10,000