 As of the census of 2010, there were 74,486 people (up from 74,239 at the 2000 census), 30,047 households, and 15,621 families residing in the city.The population density was 9,574.0 people per square mile (3,687.4/km²).There were 33,181 housing units at an average density of 4,264.9 per square mile (1,642.6/km²).