As of the census of 2010, there were 23,123 people, 7,286 households, and 4,663 families residing in the town. The population density was 1,415.7 people per square mile (546.5/km²). There were 7,950 housing units at an average density of 657.2 per square mile (253.7/km²). The racial makeup of the town was 84.11% White, 8.74% African American, 0.32% Native American, 1.26% Asian, 0.05% Pacific Islander, 4.33% from other races, and 1.19% from two or more races. Hispanic or Latino of any race were 7.36% of the population.

There were 7,286 households out of which 31.4% had children under the age of 18 living with them, 48.3% were married couples living together, 11.7% had a female householder with no husband present, and 36.0% were non-families. 30.4% of all households were made up of individuals and 8.0% had someone living alone who was 65 years of age or older. The average household size was 2.31 and the average family size was 2.88.

In the town, the population was spread out with 23.9% under the age of 18, 9.2% from 18 to 24, 33.8% from 25 to 44, 22.7% from 45 to 64, and 10.3% who were 65 years of age or older. The median age was 34 years. For every 100 females, there were 93.0 males. For every 100 females age 18 and over, there were 90.4 males.

The median income for a household in the town was $41,520, and the median income for a family was $52,266. Males had a median income of $36,777 versus $26,873 for females. The per capita income for the town was $23,506. About 6.3% of families and 8.4% of the population were below the poverty line, including 11.6% of those under age 18 and 11.7% of those age 65 or over.