Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001
Preferred stock, shares authorized (in shares)	50,000,000	50,000,000
Preferred stock, shares issued (in shares)	0	0
Preferred stock, shares outstanding (in shares)	0	0
Common stock, par value ( in dollars per share)	$ 0.004	$ 0.004
Common stock, authorized (in shares)	700,000,000	700,000,000
Common stock, issued ( in shares)	157,586,000	230,779,000
Common stock, outstanding (shares)		157,013,000
Treasury stock, shares (in shares)	0	73,766,000