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Consolidated Balance Sheets (Parentheticals) - $ / shares
Dec. 31, 2022
Dec. 31, 2021
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) 69,306,497 68,153,336
Common stock, shares outstanding (in shares) 69,273,164 68,120,003
Treasury stock, at cost, shares (in shares) 33,333 33,333