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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Current assets    
Trade receivables and contract assets allowance $ 14,184 $ 15,310
Stockholders' equity    
Common stock, par value (in usd per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 160,000,000 160,000,000
Common stock, shares issued (in shares) 57,862,000 57,668,000
Common stock, shares outstanding (in shares) 57,848,000 57,655,000