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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]    
Common stock, par value (in USD per share) $ 0.001 $ 0.001
Common stock, authorized (in shares) 200,000,000 200,000,000
Common stock, shares issued (in shares) 118,868,317 121,640,839
Common stock, shares outstanding (in shares) 118,868,317 121,640,839
Preferred stock, par value (in USD per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 20,000,000 20,000,000
Series C preferred stock    
Class of Stock [Line Items]    
Preferred stock, issued (in shares) 804,950 2,297,504
Preferred stock, shares outstanding (in shares) 804,950 2,297,504
Series D preferred stock    
Class of Stock [Line Items]    
Preferred stock, issued (in shares) 3,195,050 3,195,050
Preferred stock, shares outstanding (in shares) 3,195,050 3,195,050