Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized	175,000,000	175,000,000
Common stock, shares issued	56,317,438	56,017,672
Common stock, shares outstanding	46,320,671	48,138,257
Treasury stock, shares	9,996,767	7,879,415