Consolidated Balance Sheets (Parenthetical) - shares	Dec. 31, 2023	Dec. 31, 2022
Shareholders’ equity
Preferred stock, authorized shares (in shares)	10,000,000	10,000,000
Common stock, authorized shares (in shares)	200,000,000	200,000,000
Common stock, issued shares (in shares)	110,151,798	109,470,795
Common stock, outstanding shares (in shares)	110,151,798	109,470,795