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Stockholders' Equity
12 Months Ended
Dec. 31, 2023
Stockholders' Equity Note [Abstract]  
Stockholders' Equity Stockholders’ EquityPreferred Stock
The Company has the authority to issue 10,000,000 shares of preferred stock with a par value of $0.001 per share.  The Board of
Directors has the authority, without action by the Company’s stockholders, to designate and issue shares of preferred stock in one or more
series.  The Board of Directors is also authorized to designate the rights, preferences, and voting powers of each series of preferred stock,
any or all of which may be greater than the rights of the common stock including restrictions of dividends on the common stock, dilution of the
voting power of the common stock, reduction of the liquidation rights of the common stock, and delaying or preventing a change in control of
the Company without further action by the Company’s stockholders.  To date, the Board of Directors has not designated any rights,
preferences, or powers of any preferred stock, and as of December 31, 2023 and 2022, no shares of preferred stock were issued or
outstanding.
Common Stock
The Company has the authority to issue 200,000,000 shares of common stock with a par value of $0.001 per share.  Subject to the
preferred rights of the holders of shares of any class or series of preferred stock as provided by the Board of Directors with respect to any
such class or series of preferred stock, the holders of the common stock shall be entitled to receive dividends, as and when declared by the
Board of Directors.  In the event of any liquidation, dissolution, or winding up of the Company, whether voluntary or involuntary, after the
distribution or payment to the holders of shares of any class or series of preferred stock as provided by the Board of Directors with respect to
any such class or series of preferred stock, the remaining assets of the Company available for distribution to stockholders shall be distributed
among and paid to the holders of common stock ratably in proportion to the number of shares of common stock held by them.
Share Repurchase ProgramOn March 9, 2021, the Board authorized a share repurchase program under which the Company may repurchase its outstanding
common stock, at the discretion of management, up to $50.0 million in aggregate cost, which includes both the share value of the acquired
common stock and the fees charged in connection with acquiring the common stock (the “March 2021 Authorization”).  On July 1, 2022, the
Company concluded all share repurchases under the March 2021 Authorization. 
As of December 31, 2023, the Company has repurchased 8.1 million shares of its common stock at an aggregate cost of $80.5 million
under the March 2021 Authorization and all previous share repurchase programs.