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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
Sep. 30, 2024
Dec. 31, 2023
Stockholders’ equity    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock shares authorized (in shares) 130,000,000 130,000,000
Common stock shares issued (in shares) 55,219,273 54,723,356
Common stock shares outstanding (in shares) 55,219,273 54,723,356