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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Property and equipment, accumulated depreciation $ 92,422 $ 101,364
Intangible assets, accumulated amortization $ 14,008 $ 14,604
Preferred stock, par value (usd per share) $ 0.001 $ 0.001
Preferred stock, authorized (shares) 5,000,000 5,000,000
Preferred stock, issued (shares) 0 0
Preferred stock, outstanding (shares) 0 0
Common stock, par value (usd per share) $ 0.001 $ 0.001
Common stock, authorized (shares) 60,000,000 60,000,000
Common stock, issued (shares) 38,131,478 37,891,186
Common stock, outstanding (shares) 32,667,631 32,511,465
Treasury Stock, common, shares 5,463,847 5,379,721