Consolidated Balance Sheets (Parenthetical) - $ / shares shares in Thousands	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Common Stock, par value	$ 0.001	$ 0.001
Common Stock, shares authorized	35,000	35,000
Common Stock, shares, issued	30,983	30,758
Common Stock, shares outstanding	28,849	28,695
Treasury Stock, shares	2,134	2,063