CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	100,000,000	100,000,000
Common stock, shares issued (in shares)	47,636,273	46,974,629
Common stock, shares outstanding (in shares)	31,528,977	32,247,047
Treasury stock, common (in shares)	16,107,296	14,727,582