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Consolidated Balance Sheets (Parenthetical) - $ / shares
shares in Thousands
Dec. 31, 2023
Dec. 31, 2022
Consolidated Balance Sheets    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized 75,000 75,000
Common stock, shares issued 32,685 32,775
Common stock, shares outstanding 32,685 32,775