CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Mar. 31, 2024	Dec. 31, 2023
Statement of Financial Position [Abstract]
Preferred stock, par value (in dollars per share)	$ 0.02	$ 0.02
Preferred stock, authorized (in shares)	1,000,000	1,000,000
Common stock, par value (in dollars per share)	$ 0.02	$ 0.02
Common stock, authorized (in shares)	58,000,000	58,000,000
Common stock, issued (in shares)	35,439,115	29,386,234
Common stock, outstanding (in shares)	33,973,906	28,029,915
Treasury stock (in shares)	1,465,209	1,356,319